Minimizing bulk charge in an electroadhesive actuator

ABSTRACT

An electroadhesive clutch device can include a first electrode assembly comprising a first conductive portion that is at least partially covered by a first dielectric insulator, a second electrode assembly comprising a second conductive portion that is at least partially covered by a second dielectric insulator, and an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assemblies, respectively. The first and second electrode assemblies can be at least partially overlapping and configured to slide relative to each other at respective surfaces that comprise the first and second dielectric insulators.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority of U.S. PatentApplication Ser. No. 63/132,265, filed Dec. 30, 2020, and U.S. PatentApplication Ser. No. 63/164,210, filed Mar. 22, 2021, the contents ofboth which are herein incorporated by reference in their entireties.

BACKGROUND

Apparel, such as bras, tops, bottoms, tights, leggings, underwear, hatsor other head coverings, etc. can be constructed to provide support to awearer during various activities. Such apparel can be configured toaccommodate differences in body sizes and body types and can beconfigured for particular activities. Some apparel can have limitedadjustments mechanisms or adaptability.

OVERVIEW

The present inventor has recognized, among other things, a need forimproved fit and function of apparel, such as bras, tights, and variousother garments, undergarments, or base layers (also referred to hereinas support garments), hats, helmets, head coverings, footwear, and otherapparel. One example includes an adaptive bra that can provide acustomized fit for individual body contours and can automatically ormanually adjust to different dynamic conditions (e.g., changes inactivity level).

For example, an adaptive bra can variably adjust over a range ofsettings from maximum comfort to maximum breast support as a wearertransitions from resting to strenuous exercise. An adaptive bra can alsoutilize automated adjustment mechanisms coupled to movement sensors todynamically adjust to inhibit unwanted movement of the breasts duringactivities, such as running as an example. Adaptive apparel, such asadaptive tights, athletic supporters, or other articles discussed below,can also provide dynamic support with the potential to enhanceperformance or reduce potential for injury. Adjustable compressionsleeves can assist with recovery or support anatomy during certainactivities. Numerous examples of the various support apparel introducedhere are discussed throughout the following disclosure.

The term “support garment” as used herein is meant to encompass anynumber of support garments such as bras, sport bras, tank tops,camisoles with built-in support, swimming suit tops, body suits, baselayers, tights, compression pants, athletic supporters, and other stylesor types of support garments used to support body tissue (e.g., breasttissue) and/or other parts of the anatomy of the wearer. Supportgarments can also include underwear, tights, leggings, base layers(e.g., tight-fitting tops or bottoms), and sleeves, among other things.Further, the term “supportive region” as used herein is meant toencompass any type of structure that is in contact with or intended tobe positioned adjacent to the wearer's breasts and/or other portions ofthe anatomy of the wearer, including but not limited to reproductiveorgans, when the support garment is worn. In example aspects, for atypical wearer, a support garment comprises a first breast contactingsurface configured to contact or be positioned adjacent to, forinstance, a wearer's right breast and a second breast contacting surfaceconfigured to contact or be positioned adjacent to, for instance, awearer's left breast. In example aspects, the support garment comprisesseparate distinct cups (e.g., molded or unmolded) with each cupcomprising a breast contacting surface and each cup configured to coveror encapsulate a separate breast, or the support garment may comprise aunitary or continuous band of material that makes contact with both ofthe wearer's breasts. In an example, a support garment can comprise amale cup contacting surface configured to contact or be positionedadjacent to, for instance, a wearer's lower reproductive organ. Whilethe majority of the examples discussed herein involve adaptive bras, theprinciples can be applied to various other support garments includingbut not limited to compression tights, compression sleeves, or anathletic supporter (commonly referred to as a jockstrap or cup).

The present inventor has also recognized, among other things, a need fordynamically modifying the support provided by certain types of supportapparel based on a change in activity level. The need for modifying thesupport stems from long-term comfort and improvements in functionalityduring activities. Accordingly, systems and methods discussed herein caninclude activity sensors, such as inertial measurement units (IMUs),global positioning sensors (GPS), or heart rate monitors, among others,in communication with a control circuit that sends commands to adaptivesupport apparel including an adaptive engine to facilitate automaticchanges in support, such as based on changes in detected activity levelsor changes in position or acceleration or deceleration. Such systems canprovide a wearer all-day comfort without compromising performance.Without the systems, methods, and devices discussed herein, a wearer mayotherwise need to change support apparel for different activities orstruggle with multiple manual adjustments.

The activity sensors discussed herein can include any sensor thatprovides an indication of a level of physical activity of a user, aswell as any sensor that provides an indication of a force (e.g., dynamicor static) imparted on an adaptive support garment during use. Sensorscan be embedded into an adaptive support garment to provide data relatedto forces imparted on portions of a support structure, such as straps,laces, cables, or regions of fabric. Specific sensors, such as straingauges or stretch capacitive sensors are discussed below.

The present inventor has recognized, among other things, that a problemto be solved includes managing or avoid bulk charge accumulation in anelectrostatic or electroadhesive system. The problem can include drivingsuch a system with relatively large-magnitude voltage signals andavoiding dielectric absorption in the electrodes or in dielectriccomponents of the system itself. The problem can further includereducing power consumption and minimizing risk of stray electric fieldsor currents at or near the system. The problem can further includeproviding a clutch system that can be rapidly actuated such as to arrestor inhibit oscillating, quickly-changing, or repetitive body movements.The problem can include charging and discharging a clutch system overthousands or millions of cycles, such as at a rate of at least about onehundred cycles or more per minute, without clutch force or shear forcedegradation over time. In other words, the problem can include providinga robust clutch system that can be actuated many times in quicksuccession.

This section is intended to provide an overview of subject matter of thepresent patent application. It is not intended to provide an exclusiveor exhaustive explanation of the invention. The detailed description isincluded to provide further information.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

To easily identify the discussion of any particular element or act, themost significant digit or digits in a reference number refer to thefigure number in which that element is first introduced.

FIG. 1A illustrates generally portions of a system that can include anadaptive support garment.

FIG. 1B illustrates generally portions of a system that can include anadaptive support garment.

FIG. 1C illustrates generally a block diagram of some components of anadaptive support system.

FIG. 2A illustrates generally a top schematic view of an electroadhesivefirst clutch system.

FIG. 2B illustrates generally a side view of the electroadhesive firstclutch system.

FIG. 2C illustrates generally an example of a portion of the firstclutch system.

FIG. 3 illustrates generally an example of an electroadhesive systemsuch as can include or comprise the first clutch system.

FIG. 4 illustrates generally an example of a second clutch system.

FIG. 5 illustrates generally an example of a first clutch controlmethod.

FIG. 6 illustrates generally an example of several charts showinggraphically a control example for a clutch system.

FIG. 7A, FIG. 7B, and FIG. 7C illustrate generally examples ofcross-section views of different electrode assemblies for a clutchsystem.

FIG. 8A and FIG. 8B illustrate generally examples of top views ofdifferent electrode assemblies for a clutch system.

FIG. 9A, FIG. 9B, FIG. 9C, and FIG. 9D illustrate generally top views ofexamples of various electrode assembly components or assemblies.

FIG. 10A, FIG. 10B, and FIG. 10C include views of an encapsulant examplefor an electroadhesive clutch device.

FIG. 10D illustrates an aspect of a tube with a clutch activityindicator.

FIG. 10E illustrates generally an example of an electroluminescentdisplay.

FIG. 11 illustrates generally an example of an encasing method.

FIG. 12A and FIG. 12B include simplified side profile examples of abonded interface between a conductive member and an encapsulant for aclutch device.

FIGS. 12C-12K illustrate generally an example of a method forinterfacing an electrode assembly with a substrate.

FIG. 13A and FIG. 13B illustrate generally views of an apparel example.

FIG. 13C illustrates generally an example of a garment control unit.

FIGS. 13D and 13E illustrate generally views of different apparelexamples.

FIG. 14 illustrates generally an example of a support garment assemblyand use method.

FIG. 15 illustrates generally an example of a first diagram showingtissue displacement and acceleration information.

FIG. 16 illustrates generally an example of a second diagram showingtissue displacement and acceleration information.

FIG. 17 includes an electroadhesive system configured for use infootwear in accordance with some embodiments.

FIG. 18A-18G illustrate generally examples of articles of apparel havingone or more apertures controlled by electroadhesive clutches.

FIG. 19 illustrates generally an example of a ventilation method.

FIG. 20A and FIG. 20B show examples of an article of apparel in relaxedand stretched configurations, respectively.

FIG. 20C illustrates generally a cross-section view of a portion of anarticle of apparel with a clutch system.

FIG. 21A, FIG. 21B, and FIG. 21C illustrate examples of a clutch systemused in or with sleeves of an article of apparel.

FIG. 22A illustrates generally an example of an article of apparel thatincludes a pocket with access that can be controlled by anelectroadhesive clutch device.

FIG. 22B illustrates generally a view of an open pocket showing anelectrode configuration for use with an electroadhesive clutch device.

FIG. 23 is a block diagram illustrating an example computing devicecapable of performing aspects of the various techniques discussedherein.

DETAILED DESCRIPTION

The description that follows describes systems, methods, techniques,instruction sequences, and computing machine program products thatillustrate example embodiments of the present subject matter. In thefollowing description, for purposes of explanation, numerous specificdetails are set forth in order to provide an understanding of variousembodiments of the present subject matter. It will be evident, however,that embodiments of the present subject matter may be practiced withoutsome or other of these specific details. Examples merely typify possiblevariations. Unless explicitly stated otherwise, structures (e.g.,structural components, such as modules, devices, systems or componentsthereof) are optional and can be combined or subdivided, and operations(e.g., in a procedure, algorithm, or other function) can vary insequence or be combined or subdivided.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device, such ascan be used as a clutch. A clutch, generally, refers herein to a devicethat can be selectively or controllably actuated to achieve a particularone of multiple different states or configurations, including at least“on” and “off” states. For example, in an “on” state, one or morecomponents of a clutch can maintain a particular orientation, shape, orconfiguration, such as relative to at least one other component of theclutch. In an “off” state, one or more components of a clutch can relaxor release such as to provide a relatively compliant configuration inwhich the one or more components of the device can move relative toanother component of the clutch.

In an example, the clutch can be coupled to or integrated with anotherobject, such as apparel or a machine. In an example, a clutch system orclutch device can include a first electrode assembly comprising a firstconductive portion that is at least partially covered by a firstdielectric insulator, and a second electrode assembly comprising asecond conductive portion that is at least partially covered by a seconddielectric insulator. The clutch can include an electrical signalgenerator configured to provide first and second signals to the firstand second conductive portions of the electrode assemblies,respectively, and the first and second signals can comprise respectiveopposite-polarity portions of an alternating current (AC) signal. Thefirst and second electrode assemblies can be arranged in an at leastpartially overlapping configuration, such as at or along theirrespective surfaces that comprise the first and second dielectricinsulators. When the AC signal is asserted and provided to theconductive portions of the electrode assemblies, relative movementbetween the electrode assemblies can be inhibited or arrested. When theAC signal is unasserted or removed from the conductive portions of theelectrode assemblies, relative movement between the electrode assembliescan be enabled.

As a result, a technical problem that can include, among other things,managing or obviating bulk charges or dielectric absorption in anelectrostatic or electroadhesive system can be addressed, such as byusing an AC drive signal, or signals, instead of using a DC drivesignal, which could adversely affect dielectric absorption effects and,in turn, can adversely affect performance of the clutch system.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device, such ascan include a clutch device with a planar conductive member and ahousing that encloses at least a portion of the conductive member. Thehousing can include, among other things, a flexible polymeric substrateprovided adjacent to at least a first surface of the conductive member,and a dielectric member comprising a first portion provided adjacent toan opposite second surface of the conductive member, and a secondportion provided adjacent to a first side edge of the conductive memberand coupled to the flexible polymeric substrate.

The technical problem that can include, among other things, inhibitingor preventing stray electric fields or stray electric currents fromexiting the clutch device can be addressed at least in part usinghardware such as a housing for one or more conductive members of theclutch device. The housing can include one or multiple differentmaterials such as can have different dielectric properties and, in someexamples, can partially or fully encapsulate the conductive members.

The electroadhesive device, or components thereof, can be suitable foruse with textiles and other materials that can comprise an article ofapparel. That is, the device, or components thereof, can be conformablewith body parts such as appendages and configured to flex withoutbreaking. For example, the device, or components thereof, can beconfigured to bend, mold, and/or adapt to various shapes andconfigurations of a user's body while the user is in motion. In someembodiments, the flexibility of the device, or a component thereof, ismeasured by a bend modulus or flexural modulus, which is a standardizedmeasurement of stiffness when a force is applied to the material. Asdescribed herein, a flexible material is flexible as defined bystandards ASTM D790 or ISO 178. Flexural modulus denotes, for example inunits of megapascals (N/mm²) an ability of a material to bend. It is ameasure of a material stiffness when a force is applied perpendicular tothe long edge of a sample, known as a three-point bend test. Materialswhich lack stiffness are characterized as being flexible. The flexuralmodulus is represented by the slope of the initial straight-line portionof the stress-strain curve and is calculated by dividing the change instress by the corresponding change in strain. The ratio of stress tostrain is a measure of the flexural modulus. Various components of theelectroadhesive devices discussed herein can use materials such aspolyethylene terephthalate or acrylonitrile butadiene with a flexuralmodulus of between 0.3 and 10 MPa.

Additionally, the present inventor has identified the problem ofmaintaining the operational integrity of the electroadhesive systemespecially in situations involving a damp environment. Electroadhesivesystems used to arrest or inhibit oscillation of body movements can bepositioned close to a wearer's body, and a protective mechanism can beprovided to separate the electroadhesive system from a wearer prone toproduce sweat, tears, environmental moisture such as rain, sleet, snow,or mist, and other water-based fluids.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device, such as aclutch with one or more components disposed in a watertight encasing.Electronic devices can benefit from mechanisms to block water ormoisture from entering or contacting sensitive areas or components ofthe electronic device. Further, a watertight encasing can be flexible toallow mobility of the electroadhesive advice and configurable tointegrate with articles of apparel.

For example, the electroadhesive clutch device in a watertight encasingcan be fitted to various articles of apparel including sports bras,tights, and athletic supporters that are susceptible to sweat andmoisture. These articles of apparel benefit from the flexibilityprovided by the encasing as well as the selective mobility functionalityprovided by the electroadhesive clutch.

As a result, the technical problem that can include, among other things,water and moisture-susceptible electronic devices, can be addressed atleast in part by encasing the electronic device within a waterproof andflexible encapsulation. The encasing can include one or multipledifferent materials and, in some examples, can partially or fullyencapsulate conductive members of a clutch device.

The article of apparel may also include an accelerometer placed withinthe encasing. The accelerometer is configured to measure motion of abody to which the electroadhesive clutch device is coupled and theelectrical signal generator is configured to generate a signal based onthe measured motion. The accelerometer may also be configured to measurea magnitude of acceleration of at least a portion of the clutch deviceand the electrical signal generator is configured to generate a signalwith a magnitude and/or frequency characteristic based at least in parton the magnitude of acceleration.

The present inventor has recognized that another problem to be solvedincludes managing the cyclic upward and downward movement of body masswhile in motion. The repetitive motion can cause strain on the bodyresulting in damage to the body and corresponding pain. Specifically,the Ligaments of Cooper found in the breast tissue may be strained whenthe breast experiences a cyclic, repetitive motion without propersupport. Additionally, when the Cooper's ligaments are strained ordamaged or otherwise fail to support the breast tissue, sagging of thebreast can develop over time.

Additionally, male reproductive organs experience a similar cyclicalmotion that causes damage to the organ after prolonged motion that mayalso cause pain. Other body parts of a person may experience similarstrain, such as the feet, knees, elbows, and back.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive clutch, such asan article of apparel having a supportive region that is configured toselectively tighten and relax. The article of apparel can include, amongother things, a textile layer for the supportive region, a strapencasing the electroadhesive clutch, and a signal generator to provideone or more signals to the electroadhesive clutch.

As a result, the technical problem that can include, among other things,inhibiting or preventing upward or downward movement of body mass, suchas while a body is in motion, can be addressed at least in part usinghardware such as an electroadhesive clutch in conjunction with anarticle of apparel having a supportive region that can be selectivelytightened and relaxed to provide adjustable support of the body mass.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device in asupport garment for a wearer. The support garment may include a textilelayer forming a supportive region configured to adjustably inhibitdisplacement of a body part of the wearer positioned proximate thesupportive region. The support garment may also include a hollow strapaffixed to a portion of the textile layer that encases anelectroadhesive clutch. The electroadhesive clutch includes a firstelectrode assembly, a second electrode assembly distinct from the firstelectrode assembly and an electrical signal generator. The electricalsignal generator provides one or more signals to the first and secondelectrode assemblies to cause the electroadhesive clutch device toselectively adjust an amount by which the support garment allowsdisplacement of the body part proximate the support region. The supportgarment may be a sports bra and the supportive region may be a cup ofthe sports bra. In some embodiments, the hollow strap is a first hollowstrap encasing a first electroadhesive clutch and the support garmentincludes a second hollow strap encasing a second electroadhesive clutch.Each electroadhesive clutch is affixed to a first and second portion ofthe textile layer forming the supportive regions.

The support garment may also include a signal generator configured toprovide one or more electrical signals to the first and/or secondelectroadhesive clutch. The first and second clutches selectively adjustthe amount by which the support garment allows or inhibits displacementof a body part. In an example, actuation of the first and secondclutches can be coordinated such that they are energized or deenergizedsubstantially concurrently. The support garment may be an athleticsupporter having a hollow strap affixed to a right side of the textilelayer forming the supportive region and a second hollow strap affixed toa left side of the textile layer. Clutch electrodes, such as disposed ineach of the hollow straps, can be individually controllable toselectively adjust an amount by which the support garment allowsdisplacement of the body part. In some embodiments, the support garmentmay include a displacement sensor for each strap configured to measure achange in length or displacement of the strap. In some embodiments thestraps are waterproof encasings.

In some embodiments the support garment includes an accelerometerconfigured to measure motion of the electroadhesive clutch, or of agarment or body to which the clutch is coupled, and to generate one ormore signals based on the measured motion. The support garment can beconfigured to actuate or retain a specified position or orientation whenthe wearer meets or exceeds an acceleration or velocity threshold, andcan be configured to relax when the wearer is below the threshold.

Another problem to be solved includes maintaining an optimal bodytemperature of a wearer of an article of apparel under various stressconditions including exercising, lounging, and traveling. Interchangingbetween various articles of apparel to adapt to specific environmentscan be cumbersome and wasteful. Wearers may be faced with the problem ofdeciding which articles of apparel to don for each activity and/orenvironment. A wearer wanting to go on a long run and then catch aflight thereafter may need to decide between tight fitting runningapparel and comfortable loungewear.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device in anarticle of apparel. The article of apparel includes a textile with anaperture coupled to an electroadhesive clutch device. That is, theclutch device or components thereof can be integrated into the articleof apparel and configured to selectively allow the aperture to open andclose or to maintain the aperture in a closed configuration. The articleof apparel can include an electric signal generator configured to send,to the electroadhesive clutch device, one or more signals to selectivelyallow the aperture to open and/or close.

As a result, the technical problem that can include, among other things,heat retention or perspiration in clothing without sufficient airventilation can be addressed such as using an article of apparel havingan electroadhesive clutch device system to selectively control anaperture for providing airflow to a wearer.

The incorporation of electronics into wearable articles may present avariety of challenges. Wearable articles may be subject to getting wetfrom environmental conditions, sweat from wearers engaging in physicalactivities, and washing, among other sources of moisture. Encapsulatingsuch electronics in a waterproof encapsulant may isolate the electroniccomponents from moisture but may present challenges in physicallyintegrating the electronic components into the wearable article withoutcompromising the watertight encapsulant or damaging the electroniccomponents.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive clutch secured toa textile. First and second electrode assemblies having first and secondconductive members, respectively, are encased within an elasticencasing. The elastic encasing forms a first bond with the firstconductive member at a first location of the elastic encasing and asecond bond with the second conductive member proximate a secondlocation of the elastic encasing different than the first location. Theformation of the bonds between the first and second conductive membersand the elastic encasing provides for the maintenance of the encasingwithout compromising the integrity of first and second conductivemembers.

Articles of apparel, such as hats, sleeves, and the like, may not beutilized in consistent situations. For instance, a hat may be worn bothwhile engaged in vigorous activity, when a relatively tight or snug fitmay be advantageous to prevent the hat from falling off of the head ofthe wearer, as well as in non-vigorous activity, such as walking orsitting, when comfort may be of greater desirability. Moreover, sucharticles of apparel may come in a “one-size-fits-all” configuration, inwhich a single size is adapted to fit a variety of head sizes. However,such configurations may make the hat uncomfortable, particularly forrelatively large or relatively small heads.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use a textile forming an openingconfigured to admit a body part of a wearer and an electroadhesiveclutch secured to the textile and extending around at least a portion ofthe opening. The electroadhesive clutch is configured to inhibitincreasing a size of the opening when one or more signals, such as firstand second signals, are applied to the electrode assemblies of theclutch and the opening is enabled to increase in size when the one ormore signals are not applied. Consequently, the article of apparel maybe adaptable to any of a variety of use cases and a variety of differentphysical attributes of wearers of the article of apparel.

In an example, a solution to one or more of the technical problemsdiscussed herein can include or use an electroadhesive device having afirst electrode assembly and a second electrode assembly. The firstelectrode assembly includes a first conductive member and a firstpolymeric substrate applied to the first conductive member and having astiffness greater than a stiffness of the first conductive member. Thesecond electrode assembly includes a second conductive member and asecond polymeric substrate applied to the second conductive member, thesecond polymeric substrate having a stiffness greater than a stiffnessof the second conductive member, and the first and second conductivemembers are proximate one another with the first and second polymericsubstrates distal with respect to one another.

As a result, the technical problem that can include, among other things,a tendency of the first and second conductive members to bend or foldwhen sliding with respect to one another can be addressed, such as byapplying polymeric substrates to the first and second conductivemembers. The polymeric substrates may also reduce wear and tear on thefirst and second conductive members by preventing rubbing by the firstand second conductive members on surrounding structures, such as awatertight encasing. By applying the first and second polymericsubstrates such that the first and second conductive members areproximate one another, the first and second conductive members may stillfunction as an electroadhesive device while reducing the likelihood ofdamage to the first and second conductive members.

An adaptive support apparel system dynamically alters the fit andsupport of an adaptive support garment (e.g., bra or tights) in responseto activity data obtained from one or more sensors worn by the user. Theadaptive support system can also include components integrated intovarious wearables, such as footwear, watches or support apparel. Incertain examples, the adaptive support system can be controlled througha smartphone, smart watch, or similar wearable computing device thatcommunicates wirelessly with other components of the system. In otherexamples, the adaptive support system is controlled with circuitry builtinto the components integrated into the adaptive support apparel and/orfootwear. The following figures illustrate an example system anddiscusses at least some variations envisioned by the inventor.

FIG. 1A-1B are illustrations of a system including an adaptive supportgarment and associated electronics, according to some exampleembodiments. In this example, the adaptive support apparel system 1includes components such as, an adaptive support garment 10, a footwearassembly 20, and a smart watch 30. Optionally, the adaptive supportapparel system 1 can also communicate with a smartphone 35 or otherhandheld or mobile device for control or adjustment of parameters. Inthis example, the footwear assembly 20 includes an activity sensor 25,and the adaptive support garment 10 includes an adaptive engine 15. Inthis example, the adaptive engine 15 couples to a clutch system 16 (alsoreferred to as an electroadhesive clutch 16) that controls an adaptivesupport structure within the adaptive support garment 10. Optionally,the system 1 can also integrate a second adaptive support garment 40,illustrated here as adaptive tights.

In this example, the footwear assembly 20 includes an activity sensor 25that can include sensors such as an accelerometer, a gyroscope, atemperature sensor, a magnetometer, a heart rate sensor, or a globalpositioning sensor (GPS) to detect a change in activity level. In oneexample, the footwear assembly 20 includes an inertial measurement unit(IMU), which combines one or more of accelerometers, gyroscopes, orother applicable sensors to provide a specific force, orientation, orangular rate of change for a monitored body. Data from the IMU can beused to detect movements, such as foot strike or cadence among otherthings. In this example, the data from the activity sensor 25 iscommunicated to the smart watch 30 or smartphone 35 for processing todetermine whether a change in adaptive support is needed based on theactivity data from the activity sensor. In another example, the activitydata may be sent directly to the adaptive engine 15 for processing anddetermination of adaptive support level needed.

Foot strike data can include a portion of a broader array of activitymetrics that can be determined from sensors, such as activity sensor 25(e.g., IMU and Force sensor combination). Step metrics can includeindividual steps or step count. A step can be defined for this metricbased on parameters such as, minimum vertical force threshold, minimumaverage vertical force per step, minimum step time and maximum steptime. Step metrics can also include contact time, which is calculatedper foot per step using a force signal (e.g., time when verticalforce >50N). Another step metric is swing time, which is calculated perfoot per step using a force signal (e.g., time when vertical force <50Nuntil that foot creates a force >50N). Step metrics also includecadence, which can be defined as the inverse of the sum of the contactand swing time for each foot using force signal. Step length is anotherstep metric calculated using a force signal (e.g., sum of contact andswing time multiplied by average speed). Another step metric is impact,which can be calculated in at least two ways. Impact can be a peak rateof rise of the vertical ground reaction force, or an active peak of thevertical ground reaction force. Impulse is another step metric that iscalculated per foot per step using a force signal (e.g., integral of theground reaction force magnitude). Contact is another step metric derivedfrom motion data. For example, using IMU data sampled at 200 Hz todetermine foot angle relative to horizontal at the time of foot contact.Contact can include rearfoot, midfoot, and forefoot angles. Any of thestep metrics discussed here can be used as activity data or in additionto other activity data to assist in determining an activity level ordirectly to determine a target support level for an adaptive supportgarment.

In this example, one or each of the adaptive engine 15, smart watch 30,and smartphone 35, separately or in conjunction with one another or byaccessing remote computing resources, includes a control circuit thatprocesses the activity data and sends commands to the adaptive engine 15to change support characteristics as needed. The adaptive engine 15receives commands and activates a system to adjust an adaptive supportstructure through interactions with a clutch system 16 coupled to theadaptive engine 15.

FIG. 1B illustrates a user of an adaptive support apparel systemtransitioning between different activities that might require, orbenefit from, various levels of support. In this example, the activitysensor 25, illustrated within the footwear assembly 20, operates todetect different activity levels ranging from a relaxed walk to moderateexertion doing yoga to more extreme impact and exertion involved inrunning. In this example, the activity sensor 25 transmits data to acontrol circuit in the smart watch 30, which is running an applicationthat determines a current activity level based on the activity datainterpreted from the sensor(s). In some examples, the smart watch 30 canalso include activity sensors that also send activity data to thecontrol circuit operating on the smart watch 30 to provide additionalactivity level information to inform a decision to increase or decreasethe support provided by the adaptive support garment 10, such as anadaptive bra as in this example. For example, the smart watch 30 caninclude an integrated heart rate monitor that can be used as additionalinformation related to activity level.

In the comfort zone, the adaptive apparel support system 1 detects lowlevels of physical activity that have been determined to correspond to arelaxed level of support required from an adaptive support garment.Accordingly, the control circuit commands the adaptive engine 15 toactivate and adjust the adaptive support garment 10 to a comfortsetting. The control application (e.g., application operating thecontrol circuit) can include a user interface that provides a useraccess to different settings for the adaptive support garment. In anexample, the settings can include associating different support levelswith different pre-defined activity levels, such as resting=comfortsupport level (e.g., low level of support) and higher impact=performancesupport level (e.g., a high level of support). Other mappings can becreated, and a user interface can be presented to allow a user togenerate custom mappings, Table 1 illustrates an example mapping tablefor Activity Level-Support Level mapping.

TABLE 1 Activity Level Support Level Resting (no exertion, no impact)Comfort-Minimum Support Walking (moderate exertion, Recreation-ModerateSupport low impact) Yoga (moderate exertion & impact) Sport-EnhancedSupport Running (high exertion & impact) Performance-Superior Support

As illustrated, a user can transition from Comfort to Lower Impact byincreasing exertion and/or impact detected by the activity sensors.Dynamically, upon detecting a transition the control circuit in thesmart watch 30 commands the adaptive engine 15 to increase the supportlevel provided by the adaptive support garment 10. If the user revertsto a Comfort level of activity (e.g., resting or walking), then thecontrol circuit can command the adaptive engine 15 to relax the supportlevel back to a comfort level of support. Alternatively, if the userincreases activity by going for a run, the system can dynamicallyrespond with the adaptive engine 15 increasing the support level to ahigher impact (performance) level of support.

In certain examples, a user can select from multiple different activityrelated parameters (e.g., heart rate, cadence, impact, etc.) andassociate different levels of each parameter with different supportlevels. For example, a user can create a running activity classificationthat uses heart rate and cadence as triggers. The running activity canthen be mapped to a high support level. The support level can also beconfigured by associating different support structure adjustments to aparticular support level, such as a clutch force or tension for asupport structure.

FIG. 1C is a block diagram illustrating components of the adaptivesupport system, according to some example embodiments. Note, throughoutthis document the adaptive support system is also referred to as theadaptive support apparel system. In this example, the adaptive supportsystem 1 includes components such as a control circuit 112, activitysensors 120, and an adaptive engine 104, with the adaptive engine 104integrated within an adaptive support garment 102. The adaptive supportgarment 102 can include an adaptive supportive region 106. The adaptivesupportive region 106 includes one or more electroadhesive clutchdevice(s) 108 configured to selectively become static and/or elastic andan electric signal generator 110 that can generate signals that controlactuation of the clutch device(s) 108.

In an example, the adaptive support garment 102 can include or use aclutch indicator 134 to provide an indication of a state or status ofthe clutch device(s) 108. For example, the clutch indicator 134 cancomprise a haptic feedback device, light source, or other interfacemeans that can indicate whether the clutch device(s) 108 is engaged ordisengaged, or to indicate a degree to which the clutch device(s) 108 isengaged. The clutch indicator 134 can comprise circuitry or othercomponents configured to drive the clutch indicator 134, such as anadjustable power signal source or other signal generator.

The control circuit 112 includes a processor 114, a computer-readablememory device memory 116, and a communication circuit 118. As discussedabove, in some examples the control circuit 112 can be integrated withina smart watch 30 or smartphone 35 (FIG. 1A). In those examples, thecontrol circuit 112 is embodied within a software application running onan operating system (e.g., iOS or Android) for the smart watch 30 orsmartphone 35 hardware. Accordingly, the processor 114 and memory devicememory 116 would be part of the smartphone 35 or smart watch 30. In theillustrated example, the control circuit 112 is a standalone device orintegrated into an adaptive support garment 102.

The processor 114 accesses instructions stored in the memory devicememory 116 to process activity data received over the communicationcircuit 118. The activity data can also be stored on the memory devicememory 116 at least during processing operations. The processor 114 alsoprocesses instructions that enable it to generate and transmit, over thecommunication circuit 118, commands to the adaptive engine 104. Thecommands communicated to the adaptive engine 104 control activation ofthe adaptive engine 104 to change support characteristics of an adaptivesupport garment.

The control circuit 112 receives activity data from activity sensors120. In this example, activity sensors 120 can include any combinationof an IMU 122, an accelerometer 124, a strain gauge 126 (e.g., acapacitance-based strain gauge configured to measure displacementinformation), a global positioning system (GPS 128), a temperaturesensor 130, and/or a heart rate (HR sensor 132) among other sensorscapable of producing data indicative of a user's activity level. Theactivity sensors 120 can include any combination of the listed sensorsand transmits the produced activity data to the control circuit 112 overa wireless communication link, such as Bluetooth® LE (Low Energy).Additionally, as alluded to above, the components of system 1 discussedabove can be distributed in any combination across devices including asmart watch, a smartphone, a footwear assembly, or an adaptive supportgarment (e.g., integrated into an adaptive engine).

The term “electroadhesion” generally refers herein to a coupling ofphysical objects using an electrostatic force. The electrostatic forcebetween objects can be selectively controlled by a controller, orprocessor circuit, that can coordinate generation and provision ofelectrical signals to different electrodes in or on the objects to becoupled using the electrostatic force. Engagement, coupling, or adhesionbetween objects using electroadhesion can be controlled in terms of, forexample, coupling or decoupling, or can be controlled in terms of amagnitude of a gripping force or magnitude of shear force between theobjects. That is, the engagement between objects in an electroadhesivesystem can be controlled in binary on/off terms or in terms of arelative magnitude or degree of a force that couples the objects orresists relative motion between the objects.

In an example, electrical control of electrostatic forces can providecontrolled attachment or detachment of various objects. For example, twoor more object surfaces can be joined or held together usingelectroadhesion and can thereby affect a grip, traction, or frictionbetween the joined surfaces due to electrostatic forces from an inducedelectric field. In some examples, a dielectric can be provided betweenthe joined surfaces.

Surfaces to be joined using electroadhesion can have various surfaceproperties or characteristics. For example, surfaces having differentplanar uniformity or flatness characteristics, smoothness or roughnesscharacteristics, continuity or discontinuity characteristics,conductivity, topography, compliance or flexibility, or othercharacteristics, can be joined using electroadhesion. That is,electroadhesive devices and techniques discussed herein are not limitedto particular material properties or surface characteristics, however,some materials can exhibit different electroadhesion characteristicsthan others. For example, some materials can be better configured forrepetitive electroadhesive coupling and decoupling, and some materialscan be better configured for relative motion between the differentmaterials.

In some examples, an electroadhesive system or electroadhesion devicecan include at least one compliant or conformable electroadhesivesurface that is flexible in one or more dimensions. Owing at least inpart to the compliance of a first component of an electroadhesivesystem, for example, the first component may join or mate moreeffectively with a second component, such as can be or can include adifferent or less conformable surface of another device.

For example, a first electroadhesive surface can include a compliantsurface portion that is configured to facilitate electroadhesiveattraction substantially independently of surface roughness of a secondelectroadhesive surface. That is, the first electroadhesive surface canbe configured to conform to discontinuities or other imperfections of asecond surface to which the first electroadhesive surface is to mate. Inan example, an electroadhesive surface can be configured to conform tomicroscopic, mesoscopic, and/or macroscopic surface features. Under theinfluence of an appropriate electrical stimulus, the firstelectroadhesive surface can be attracted to the second electroadhesivesurface, and the first electroadhesive surface can be caused to at leastpartially conform to the second surface by deforming or flexing locally.In some examples, multiple different modes of adhesion between primaryand secondary devices or surfaces can be provided to further enhancemating between the surfaces.

In an example, an electroadhesive system can include at least a primarydevice having one or multiple electrodes. The primary device can beconfigured to adhere, or “clutch,” to or with a secondary device ortarget. The secondary device can similarly have one or multipleelectrodes. The various device electrodes can be electrically stimulatedto induce an electrostatic attraction with respect to another electrodeor device, such as when an appropriate voltage or current signal isapplied to one or both devices. In some examples, polarization of anelectrode on a surface of the primary device can induce a correspondingpolarization in the target device and can thereby cause the primary andsecondary devices to adhere.

In an example, a controllable electroadhesive clutch system can includeor use electroadhesive films that are lightweight and can generally userelatively low-power electrical signals to form bonds with othersurfaces and substrates, such as with other films. Many of the examplesherein include or use electroadhesive clutch devices that comprise oneor multiple pairs of films that can be electrically charged to yield aforce that can join the films together. Other electroadhesive materialscan include materials other than films, or electroadhesive materials ofdifferent types (e.g., films, fabrics, liquids, plastics, etc.) cansimilarly be used to provide the same or similar results.

FIG. 2A illustrates generally a top schematic view of an electroadhesivefirst clutch system 200. FIG. 2B illustrates generally a side view ofthe electroadhesive first clutch system 200. The side view of FIG. 2B isa partially exploded view to better illustrate the various componentsand features of the first clutch system 200. The example of the firstclutch system 200 includes a first electrode assembly 202 that can beselectively and controllably coupled to, or decoupled from, a secondelectrode assembly 208 using electrostatic force. In FIG. 2B, the firstelectrode assembly 202 is illustrated as near to, but decoupled from,the second electrode assembly 208. That is, in FIG. 2B, the illustrationshows the electrode assemblies detached from each other and, forexample, not under the influence of an electrostatic attractive force.

The first electrode assembly 202 includes an electrode with a firstconductive surface 204 and the second electrode assembly 208 includes anelectrode with a second conductive surface 210. The conductive surfacescan have respective portions that can be positioned at least partiallyadjacent to each other. In the example of the first clutch system 200,the respective surface portions are illustrated as planar surfaces,however, other surface shapes or characteristics (e.g., roundedsurfaces, angled surfaces, etc.) can similarly be used.

In an example, an electrical signal, or multiple electrical signals, canbe applied to the first conductive surface 204 and the second conductivesurface 210 of the respective electrodes to thereby induce anelectrostatic force that can join the surfaces, and therefore the firstelectrode assembly 202 and the second electrode assembly 208, together.The strength of the force that joins the assemblies can depend upon,among other things, a surface area of the adjacent conductive surfaces,a magnitude of the electric signal or signals applied to the firstconductive surface 204 and the second conductive surface 210, a distancebetween the surfaces, and a permittivity of any dielectric member or gapbetween the conductive surfaces.

The example of the first clutch system 200 includes a dielectric layerbetween the first conductive surface 204 and the second conductivesurface 210. In the example of the first clutch system 200, each of theconductive surfaces is coated or covered at least partially with adielectric insulator. In the first clutch system 200, a first dielectriclayer 206 can be provided along a portion of the first conductivesurface 204 that is or, in some orientation can be, adjacent to thesecond electrode assembly 208. A second dielectric layer 212 can beprovided along a portion of the second conductive surface 210 that isor, in some orientation can be, adjacent to the first electrode assembly202.

In other examples, one of the conductive surfaces includes or uses adielectric insulator and the other does not. The dielectric insulatorcan be applied or deposited homogeneously or can be deposited in apattern or quasi-randomly (e.g., with a particular coverage per unitarea) to thereby effect different adhesion characteristics of the firstclutch system 200. In other examples, an airgap can be provided betweenthe conductive surfaces and can comprise a dielectric insulator. Variousspacers can be used to control a uniformity or non-uniformity of theairgap between the conductive surfaces of the first clutch system 200.Similarly, spacers can be used to control a compressive force on adielectric member that can be provided between the conductive surfaces.

In the example of the first clutch system 200, the first electrodeassembly 202 includes a first support 214 and a second support 216 atopposite length-wise ends of the first conductive surface 204. Thesupports can be configured to maintain the first conductive surface 204in a generally planar configuration, however, differently shaped ordifferently configured supports can similarly be used, such as dependingon the particular geometry or application of the clutch system.Similarly, the second electrode assembly 208 includes a third support218 and a fourth support 220 at opposite length-wise ends of the secondconductive surface 210. In an example, the supports comprise carbonfiber, aluminum, or other material.

In an example, one or more of the supports can comprise conductive ornon-conductive portions. In an example, the first support 214 is coupledto a first lead 224 or electrical terminal. The first support 214 caninclude a conductive portion, or can provide a substrate for aconductor, that can receive an electrical signal from the first lead 224and provide it to the first conductive surface 204. Similarly, the thirdsupport 218 can be coupled to a second lead 226 or electrical terminal.The third support 218 can include a conductive portion, or can provide asubstrate for a conductor, that can receive an electrical signal fromthe second lead 226 and provide it to the second conductive surface 210.In an example, the various supports can be coupled to their respectiveconductive surfaces using an insulator, and the electrical leads can becoupled to the conductive surfaces, such as with or without anyintervening conductors, materials, or signal busses. For example, thefirst support 214 can be coupled to an insulator 228 and the insulator228 can be coupled to the first conductive surface 204, to therebyelectrically decouple the first conductive surface 204 from the firstsupport 214. In some examples, electrically decoupling or isolating aconductive surface from its support or supports can help concentrateavailable electrical energy in the conductive surface rather thandistribute it over a larger area, such as can include the support. In anexample, the insulator 228 can be an adhesive component or layer thatcouples the supports to their respective conductive surfaces.

The example of the first clutch system 200 includes an alignment device222. The alignment device 222 can be configured to couple the electrodeassemblies together, such as to maintain a specified orientation oralignment of the first electrode assembly 202 and the second electrodeassembly 208. In some examples, the alignment device 222 can comprise aspring, an elastic member, or other extensible and retractable componentthat can be configured to bias the first electrode assembly 202 and thesecond electrode assembly 208 toward a particular orientation. In theexample of the first clutch system 200, the alignment device 222 canbias the respective surface portions of the first electrode assembly 202and the second electrode assembly 208 into a substantially adjacent andat least partially overlapping orientation. As used herein,substantially adjacent can mean coupled, or can mean nearby butuncoupled or decoupled, or can mean partially coupled, or can meansufficiently near that an electrostatic force can be developed betweenthe surfaces, such as with or without physical contact between thesurfaces or between one or more dielectric layers provided between thesurfaces. Multiple instances of the alignment device 222, or multiple,differently-oriented alignment devices can be used together, such as tohelp avoid buckling or warping of conductive portions of the electrodeassemblies.

In an example, the conductive portion of the first conductive surface204 or the second conductive surface 210 can comprise a conductivematerial that is printed, deposited or sputtered onto a flexible orcompliant substrate. For example, the conductive portion can include aMylar substrate that is coated or sputtered with aluminum. In anexample, one or both of the electrode assemblies in the first clutchsystem 200 can include an insulating dielectric layer, such as aceramic-polymer composite, provided on an aluminum-sputtered bi-axiallyoriented polyethylene terephthalate film, or BOPET film.

In an example, the dielectric layer, such as the first dielectric layer206 or the second dielectric layer 212, and/or other insulating orpartially-insulating dielectric portions can be printed, deposited,sputtered, or otherwise applied to the film or other substrate. Forexample, the dielectric can include a substantiallynon-electrically-conductive printable dielectric ink or similarmaterial, or the conductive portion can comprise anelectrically-conductive printable ink or similar material. In anexample, the dielectric can comprise a flexible or physically compliantmaterial.

In an example, an aluminum-covered film can provide the conductivesurface for an electrode assembly, and the polymer portion can provide abacking to the aluminum and can help reinforce the film to withstandforce from the supports, such as when the electrode assemblies are undera physical strain or load. A thickness of the conductive surface, orassembly, can be changed by using different films, different amounts ofpolymer per unit area, or different amounts of conductive material.

The sizes and shapes of the first electrode assembly 202 and the secondelectrode assembly 208 can be adjusted to accommodate variousapplications. In the example of the first clutch system 200, the firstelectrode assembly 202 is illustrated with a first conductive surface204 that has a lesser width than the second conductive surface 210 ofthe second electrode assembly 208. In some examples, differences inwidth can be useful to prevent shorts or other electrical coupling aboutedges of the electrodes.

In operation, an electric signal such as an alternating current (AC)signal or direct current (DC) signal can be applied to the electrodesusing the first lead 224 and the second lead 226. In response to theapplied signal, opposite charges can accumulate on the first conductivesurface 204 and the second conductive surface 210 and, in turn, anelectrostatic force (e.g., an attraction or repulsion force) can developat an interface between substantially adjacent portions of the surfaces,such as at or along an overlapping length portion of the surfaces. Inthe case of an attractive force, the first conductive surface 204 andthe second conductive surface 210, and therefore the first electrodeassembly 202 and the second electrode assembly 208, can adhere or join.The resulting electrostatic adhesion, and friction at the interfacebetween the adjacent surfaces, can prevent relative motion and resistshear forces. That is, when the first clutch system 200 is actuated andan electrostatic attractive force exists between the first conductivesurface 204 and the second conductive surface 210, any shear stressapplied (e.g., a force applied parallel to the surfaces, such as todisplace one of the surfaces relative to the other) can be resisted.

When the electric signal is removed or turned off, then the firstconductive surface 204 and the second conductive surface 210 can bedischarged and any electrostatic attraction at the interface of thesurfaces can dissipate. That is, the first conductive surface 204 andthe second conductive surface 210 can be disengaged and can sliderelatively freely with respect to each other, such as within any boundsestablished by the alignment device 222 or by any other displacementlimiters.

The present inventor has recognized that a force between the conductivesurfaces of the first clutch system 200 can be expressed as a functionof various geometric parameters and the electric constant ε₀. Forexample, under theoretical conditions where the conductive surfaces areinfinitely large, each plate can produce an electric field of magnitudeE=σ/2ε₀=Q/2Aε₀, where the surface charge density on the surfaces is ±σand σ=Q/A. Since both surfaces equally contribute to the resultingfield, an electric field between the surfaces is E_(total)=Q/Aε₀ and thepotential difference V=E_(total)d where d is the distance between thesurfaces. The present inventor has further recognized that, since thesurfaces can be oppositely charged, an attractive force F_(attractive)between the surfaces is equal to the electric field produced by one ofthe plates multiplied by the charge on the other. That is,

$F_{attractive} = {{Q\frac{Q}{2 \cdot A \cdot ɛ_{0}}} = {\frac{ɛ_{0} \cdot A \cdot V^{2}}{2 \cdot d^{2}}.}}$

The equation for modeling the attractive force can be applied todetermine a shear force, or holding force or clutching force, for thefirst clutch system 200. For example,

$F_{shear} = \frac{\mu \cdot ɛ \cdot ɛ_{0} \cdot A \cdot V^{2}}{2 \cdot d^{2}}$

where μ is the coefficient of friction between the surfaces, ε is therelative permittivity of the dielectric between the surfaces, ε₀ is theelectric constant, A is an area of the interface between the surfaces(e.g., the area of the overlapping portion), V is the voltage applied,and d is a thickness of the dielectric between the surfaces or aseparation distance between the surfaces. In an example, a maximum shearforce, F_(shear), can be represented as a function of a constant and thenormal force, F_(N), between the surfaces in the absence of an appliedvoltage, or F_(shear)=kF_(N).

Based at least in part on the theoretical or ideal equations for theforces in the first clutch system 200, the present inventor hasrecognized that the shear force between the surfaces is a function ofthe square of the voltage applied, and therefore a polarity of thevoltage is effectively inconsequential. Accordingly, the presentinventor has recognized that an AC drive signal can be used and, inturn, undesirable dielectric absorption in the electroadhesion systemcan be minimized.

FIG. 2C illustrates generally an example of a portion of the firstclutch system 200. In FIG. 2C, the first electrode assembly 202 isadjacent to the second electrode assembly 208 and a voltage signal isapplied to each of the electrode assemblies. In the illustration, the“+” symbols represent a positive voltage signal applied to the firstconductive surface 204 of the first electrode assembly 202 and the “−”symbols represent a negative voltage signal applied to the secondconductive surface 210 of the second electrode assembly 208. As a resultof the opposite-polarity signals applied, an electric field 230 isgenerated. In the illustrated example, the first electrode assembly 202includes a positively charged portion that attracts a negatively chargedportion of the second electrode assembly 208. The electric field 230causes an electrostatic force to bring the electrode assemblies togetherand resist a shear force, F_(shear). The maximum shear force, F_(shear),that the first clutch system 200 can withstand is given by the equationabove, and is a function of the area about which the electric field 230exists, the square of the voltage applied, and characteristics of thedielectric between the conductive portions of the assemblies, amongother things.

In an example, multiple instances of the first clutch system 200 can beused together to provide enhanced clutching. For example, multipleinstances can be provided in parallel or in series. Generally, theapplications discussed herein are presented with reference to a singleinstance of the first clutch system 200, however, multiple instances cangenerally be used depending on size constraints, power constraints,and/or on performance objectives.

FIG. 3 illustrates generally an example of an electroadhesive system 302such as can include or comprise the first clutch system 200. Theelectroadhesive system 302 can include a processor circuit 304, a signalgenerator 306, and a clutch electrode array 322. In an example, theelectroadhesive system 302 can include an energy source 308, a userinterface 310, and sensor(s) 314. In an example, one or more componentsof the electroadhesive system 302 can include or comprise components ofthe adaptive support system 100 from the example of FIG. 1C.

In the example of FIG. 3, one or more components of the electroadhesivesystem 302 can receive power from the energy source 308. The energysource 308 can include a battery or other source of AC or DC electricalenergy. In an example, the energy source 308 includes power harvestingcircuitry such as can be used to harvest power from, e.g., kinematicsources, RF or other electromagnetic sources, or elsewhere.

The processor circuit 304 can include a general-purpose or purpose-builtprocessor as discussed elsewhere herein. The processor circuit 304 canbe configured to receive information from one or more of the signalgenerator 306, the energy source 308, the user interface 310, thesensor(s) 314, or the clutch electrode array 322, and in response,control one or more operations of the electroadhesive system 302.

The signal generator 306 can include an electrical signal generator thatis configured to provide DC or AC signals to the clutch electrode array322. In an example, the signal generator 306 is configured to generateelectric signals having characteristics that are specified by theprocessor circuit 304. For example, the signal generator 306 can beconfigured to generate electric signals having specified magnitude,frequency, pulse width, pulse or waveform morphology, or othercharacteristics according to instructions received from the processorcircuit 304.

The clutch electrode array 322 can be configured to receive electricsignals from the signal generator 306 and provide the signals to one ormore electrodes, such as can comprise portions of a clutch system orclutch device. In an example, the clutch electrode array 322 includes afirst electrode 324, a second electrode 326, or other electrodes, suchas including an nth electrode 328. The different electrodes in theclutch electrode array 322 can be separately addressable and can receiverespective different signals from the signal generator 306. In anexample, each of the electrodes in the clutch electrode array 322 cancomprise a portion of an electrode assembly. For example, the firstelectrode 324 can include or comprise the first conductive surface 204of the first electrode assembly 202 from the example of FIG. 2A, and thesecond electrode 326 can include or comprise the second conductivesurface 210 of the second electrode assembly 208 from the example ofFIG. 2A.

In an example, the user interface 310 can include various systems ordevices or modules that can be configured to provide information to, orreceive information from, a user. The user can include a human operator,or an ancillary device, or other controller for the electroadhesivesystem 302. In an example, the user interface 310 is configured toreceive instructions or information from the user about a desiredbehavior or operating characteristic of the electroadhesive system 302,such as can include a clutch force, clutch sensitivity, powerconsumption characteristic, or other information. The user interface 310can be configured to provide feedback or other information to the userabout the same or other characteristics of the system. For example, theuser interface 310 can be configured to receive a user-specifiedindication of a clutch force to provide, and the user interface 310 canbe configured to report to the same or a different user an indication ofan actual clutch force applied or provided or available in the system.

In an example, the user interface 310 can include a haptic element 312.The haptic element 312 can be configured to produce or provide a hapticsensation to communicate information to the user. The information caninclude, for example, a clutch status indication, a clutch forceindication, or other information about the electroadhesive system 302.

In an example, the electroadhesive system 302 can include or use one ormore sensor(s) 314. The processor circuit 304 can receive sensor signalinformation from one or more of the sensor(s) 314 and, in response,control a clutching behavior or other action of the electroadhesivesystem 302. Various types of sensors can be used, including aphysiologic sensor 316, a kinematic sensor 318, or a displacement sensor320. In an example, the physiologic sensor 316 is configured to sensephysiologic information about a user of the electroadhesive system 302.For example, the physiologic sensor 316 can include one or more of aheart rate sensor, an oxygen saturation level sensor, an ECG sensor, apulse sensor, an acoustic sensor, an ectodermal or galvanic skinresponse sensor, muscle oxygen sensor, or other sensor configured tomeasure physiologic information about the user.

In an example, the kinematic sensor 318 can include a single-axis ormultiple-axis accelerometer, gyroscope, strain sensor, inertialmeasurement unit (IMU) sensor, or other sensor configured to provideinformation about kinematics or movement of the electroadhesive system302, or of a component of the electroadhesive system 302, or of a bodyor object to which the electroadhesive system 302 is coupled orconfigured to influence. In an example, multiple instances of thekinematic sensor 318 can be provided, such as at different locationsaround a body, such as to monitor motion (e.g., absolute or relative) ofdifferent segments or portions of the body. In an example, informationfrom the kinematic sensor 318 can be used to determine an activitylevel, a posture, a position, or other characteristic of a body.

In an example, the displacement sensor 320 can include a deviceconfigured to measure a distance or displacement information. Forexample, the displacement sensor 320 can be configured to measure arelative position of different portions of the first clutch system 200.For example, the displacement sensor 320 can be configured to measure orprovide information about an overlapping portion of the first electrodeassembly 202 and the second electrode assembly 208, or information aboutan extension characteristic of the alignment device 222, or otherinformation about an orientation or position of components of theelectroadhesive system 302.

The sensor(s) 314 can include other sensors not specifically enumeratedhere, such as environmental sensors, global positioning system (GPS)sensors, light sensors, proximity sensors, or other sensors.

FIG. 4 illustrates generally an example of a second clutch system 400.The second clutch system 400 can include or use components of the firstclutch system 200 and/or of the electroadhesive system 302. For example,the second clutch system 400 can include a reference electrode assembly402, such as can correspond to one of the first electrode assembly 202and the second electrode assembly 208 from the example of the firstclutch system 200, and the second clutch system 400 can include amovable electrode assembly 414, such as can correspond to the other oneof the first electrode assembly 202 and the second electrode assembly208.

The reference electrode assembly 402 can include a first clutch frame404 that anchors or references at least one electrode of the secondclutch system 400 relative to the other. The movable electrode assembly414 can include a second clutch frame 416 that is coupled to a differentelectrode of the second clutch system 400. In the example of FIG. 4, thereference electrode assembly 402 includes a first polymeric substrate406 coupled to the first clutch frame 404, a first conductive member 408coupled to the first polymeric substrate 406, and a first dielectricmember 410 coupled to the first conductive member 408. The movableelectrode assembly 414 similarly includes a second polymeric substrate418, a second conductive member 420, and a second dielectric member 422.

In various examples, the first and second polymeric substrates 406, 408are configured to provide stiffness to prevent or decrease thelikelihood of the first and second electrode assemblies 202, 208buckling or folding in use but to also be pliant so that the firstclutch system 200 is useful in wearable articles as disclosed herein. Invarious examples, the first and second polymeric substrates 406, 418 areor include a polyolefin foam. In various examples, the polyolefin foamis applied to the respective first and second conductive members 408,420 using an adhesive layer between the first and second conductivemember 408, 420 and the polyolefin foam, in which case the adhesivelayer may be understood be a part of the first and second polymericsubstrates 406, 418. In various examples, the polymeric substrate has athickness of approximately 0.25 millimeters, though greater or lesserthicknesses are contemplated as appropriate. In various examples, thefirst and second polymeric substrates 406, 418 are formed of 5703LEpressure sensitive adhesive foam tape.

Various components of the reference electrode assembly 402 or themovable electrode assembly 414 can comprise or correspond to componentsof the first electrode assembly 202 or the second electrode assembly 208from the example of FIG. 2A, FIG. 2B, or FIG. 2C. For example, the firstpolymeric substrate 406 can correspond to the first support 214 or thesecond support 216, or the second polymeric substrate 418 can correspondto the third support 218 or fourth support 220. The first conductivemember 408 can correspond to the first conductive surface 204, or thesecond conductive member 420 can correspond to the second conductivesurface 210. The first dielectric member 410 can correspond to the firstdielectric layer 206, or the second dielectric member 422 can correspondto the second dielectric layer 212. The example of the second clutchsystem 400 includes multiple instances of an elastic aligner 428, suchas can correspond to the alignment device 222 of the first clutch system200, and so on. As similarly explained above in the discussion of thefirst clutch system 200, the elastic aligner 428 can be provided toarrange or maintain the reference electrode assembly 402 and the movableelectrode assembly 414 in positions such that an electric field can begenerated between the first conductive member 408 and the secondconductive member 420 to thereby induce an electrostatic force to holdthe electrode assemblies together.

In use, the second clutch system 400 includes the first dielectricmember 410 of the reference electrode assembly 402 arrangedsubstantially adjacent to the second dielectric member 422 of themovable electrode assembly 414 at or along an interface 430. When theelectrode assemblies are arranged in this manner, an electric field canbe induced between the first conductive member 408 and the secondconductive member 420 that, in turn, can cause an electrostatic force tojoin the reference electrode assembly 402 and the movable electrodeassembly 414 together at the interface 430. In the absence of theelectric field, the movable electrode assembly 414 can be configured tomove relative to the reference electrode assembly 402. In an example,the movable electrode assembly 414 can move in a plane, such as parallelto a plane of the reference electrode assembly 402.

The example of FIG. 4 includes a first displacement sensor 426, such ascan include or correspond to the displacement sensor 320 from theexample of FIG. 3. The first displacement sensor 426 can be coupled tothe second clutch frame 416 and can move with the second clutch frame416. The first displacement sensor 426 can be configured to measure adistance dx, such as along a particular axis, between the sensor and areference point. The reference point can be provided by, for example, adisplacement sensor reference element 412, such as can be disposed on orcoupled to the first clutch frame 404, or can be provided elsewhere inthe second clutch system 400. In an example, the first displacementsensor 426 can be configured to measure displacement or positioninformation in more than one dimension, or along multiple axes. Forexample, the first displacement sensor 426 can be configured to measurea position of the sensor relative to the displacement sensor referenceelement 412 in x, y, and/or z directions.

The example of FIG. 4 includes an accelerometer 424, such as can includeor correspond to the kinematic sensor 318 from the example of FIG. 3.The accelerometer 424 can be configured to measure acceleration of thesecond clutch frame 416 of the movable electrode assembly 414. Asexplained elsewhere herein, information from the accelerometer 424 canbe used to determine or control actuation of the second clutch system400 or to control a clutch force to be applied by the second clutchsystem 400.

In practice, when the first conductive member 408 and the secondconductive member 420 are coupled to electric terminals and driven byelectric signals, such as from the signal generator 306, the assemblyforms a capacitor that can be charged and discharged. When a voltagebetween the terminals is applied, the capacitor charges and generates anattractive electrostatic force. The attractive force drives theconductive members together and thereby increases friction and inhibitsany relative movement. When the voltage is removed or reduced, theelectrostatic attractive force is removed or reduced, and the conductivemembers are effectively released and allowed to slide more freelyrelative to each other.

FIG. 5 illustrates generally an example of a first clutch control method500. The first clutch control method 500 can include or use variouselements of the first clutch system 200, the electroadhesive system 302,or the second clutch system 400, or other systems or devices discussedherein.

At block 502, the first clutch control method 500 can include receivinga user control instruction for an electroadhesive clutch system. In anexample, block 502 can include receiving a control instruction from auser using the user interface 310. In an example, block 502 can includereceiving a control instruction from a user using one or more of thesensor(s) 314. For example, the user control instruction can include auser instruction to enable or disable a clutch system, or to control adegree or magnitude with which to operate the system. That is, the usercontrol instruction can indicate an amount (e.g., a relative or absoluteamount) of a clutching force, or shear resistance force, that the systemis to provide.

At block 504, the first clutch control method 500 can include detectingor determining a state of an electroadhesive clutch system. In anexample, block 504 can include using one or more of the sensor(s) 314 todetermine a status, a position, or other state of the clutch system. Inan example, block 504 can include determining a relative position ofelectrodes in the clutch system, such as using the displacement sensor320, and providing information about the relative position to theprocessor circuit 304. In an example, block 504 can include determiningan acceleration of the clutch system, or an acceleration of a body towhich the clutch system is coupled, or acceleration of a body that theclutch system is configured to control, and providing accelerationinformation to the processor circuit 304.

In an example, block 504 can include measuring one or more properties ofthe electroadhesive system 302 or of components thereof. In an example,block 504 can include applying a filter (e.g., a smoothing filter ornoise-reducing filter) or otherwise processing the measured propertiesto determine a location, orientation, configuration, or otherinformation about the components of the electroadhesive system 302 or ofthe system itself. In an example, block 504 can include determining analignment, a location, and/or an orientation of one or more electrodeassembly components.

At block 506, the first clutch control method 500 can include generatinga clutch control signal based on the detected state of theelectroadhesive system from block 504. For example, block 506 caninclude using the processor circuit 304 to process information from theuser interface 310 or from the sensor(s) 314, or from other sources, togenerate a signal that can control clutching of the system. In anexample, block 506 can include generating a binary on/off indication forthe clutch system, or block 506 can include generating a signal thatindicates a magnitude of clutching force for the system to provide. Forexample, block 506 can include generating different control signalscorresponding to different amounts of clutching force to provide.

At block 508, the first clutch control method 500 can include providinga clutch electrode drive signal to electrodes in the electroadhesiveclutch system. For example, block 508 can include using the signalgenerator 306 to provide DC or AC signals to the clutch electrode array322. In an example, block 508 includes providing different electricsignals to different electrodes in the clutch electrode array 322. In anexample, block 508 includes providing opposite-polarity components ofthe same AC signal to respective different electrodes in a clutch systemto thereby induce an electrostatic force between electrodes and producea clutching force.

In an example, block 506 and/or block 508 can include using theprocessor circuit 304, or using another local or remote controller, toperform various calculations regarding the detected state, to usecalibration information, to use information about previously-detected orstored states, to use previously-defined control parameters, or to useother information to control various aspects of the electroadhesivesystem 302. Results of the calculations can cause the electroadhesivesystem 302 to implement one of a variety of different responses orcontrols, such as according to an application or control algorithm. Inan example, the processor circuit 304 or other controller can includestate machines, feedback loops, feed-forward controllers, look-up tables(LUTs), proportional-integral-derivative (PID) controllers, parametriccontrollers, model-based controllers, kinematic model-based controllers,or state-space controllers, among others. Various parameters of thecontroller can be trained or optimized. In an example, the variousparameters or algorithms can include or use machine learning or deeplearning to better understand and respond to inputs, such as usinginformation from multiple different users. In an example, a controllerfor the electroadhesive system 302 can be configured to improve, adapt,or otherwise reconfigure to improve or update behavior or performance ofthe system, such as based on patterns of use, properties (includingdegradation or wear-and-tear) of the system itself or componentsthereof, or other information.

In an example, a model-based controller for an electroadhesive clutchsystem can facilitate adaptation of the system to different users, suchas can have different body types, or can facilitate adaptation of thesystem in different environments or under different conditions, such aswith or without training data or a training period. For example, controlmodel parameters can be specified or set using a priori informationabout a user or use case. In an example, the model can be updated basedon detected changes or properties of the system or the user. Forexample, model parameters can be updated depending on, e.g., a shape orweight of body segments of the wearer, or a compliance of the system orthe user body. In an example, a change or deviation from a modelparameter can indicate a change in a component of the clutch system or achange in the user. For example, a parameter change can indicate failureor wear of a component of the system, and the user can be notified(e.g., using the user interface 310). Additionally or alternatively, thenotification can be provided to a remote operator or system, such as amanufacturer or vendor who can automatically provide a replacement,thereby enhancing the user experience. In an example, a change in amodel parameter can indicate a change in user gait or posture, such ascan indicate injury or fatigue. The user can be notified or cautioned ofsuch change using the user interface 310.

FIG. 6 illustrates generally an example of several charts 600 showinggraphically a control example for a clutch system. The charts 600include an acceleration signal chart 602, a clutch signal chart 604, anda voltage signal chart 606. The charts 600 include a common time axis toillustrate generally an example of how acceleration information, clutchcontrol, and electrode drive voltage signals can correspond.

The example of the acceleration signal chart 602 includes anacceleration signal 608, such as can be received or derived from thekinematic sensor 318 from the example of the electroadhesive system 302.The acceleration signal 608 can indicate a magnitude of an accelerationof a body, of the electroadhesive system 302, or of a component of theelectroadhesive system 302. For example, the acceleration signal 608 canindicate an acceleration of a particular electrode, or electrodeassembly, of a clutch system, such as described herein in the example ofFIG. 4. In the example of FIG. 6, the acceleration signal 608 isillustrated generally as an oscillating signal with a moderatelyconstant frequency and varying magnitude. In the example, a first orearlier portion of the acceleration signal 608 includes an oscillatingacceleration-indicating signal having a first acceleration magnitudecharacteristic, and a second or later portion of the acceleration signal608 indicates a greater second acceleration magnitude characteristic.

The acceleration signal chart 602 includes a first accelerationmagnitude threshold 610 having a fixed magnitude Ath1, and a secondacceleration threshold magnitude 612 having a fixed magnitude Ath2. Theacceleration thresholds represent magnitude thresholds that, ifexceeded, indicate a control state, or a change in a control state, forthe electroadhesive system 302. For example, if the acceleration signal608 indicates an acceleration magnitude that is less than the firstacceleration magnitude threshold 610, then the system can have a firstcontrol state, and if the acceleration signal 608 indicates anacceleration magnitude that is greater than first acceleration magnitudethreshold 610 and less than the second acceleration threshold magnitude612, then the system can have a second control state, and if theacceleration signal 608 indicates an acceleration magnitude that isgreater than the second acceleration threshold magnitude 612, then thesystem can have a third control state. Although the example of FIG. 6illustrates the magnitude threshold conditions as fixed or staticvalues, other magnitude threshold conditions can be used, such as basedon a morphology of the acceleration signal 608, or based on absolute orrelative changes in the acceleration signal 608. Fewer or greater thantwo threshold conditions can similarly be used; two threshold conditionsare used in the example of FIG. 6 for illustrative purposes.

The example of FIG. 6 indicates that the various control states can bespecified or determined based on acceleration magnitude thresholds ofthe acceleration signal 608. Other acceleration-based changes ortriggers can similarly be used. For example, a frequency of theacceleration signal 608 can be used to trigger a change in a controlstate, or a change in frequency of the acceleration signal 608 can beused.

The example of the clutch signal chart 604 includes a clutch controlsignal 614. In the example of FIG. 6, the clutch control signal 614 is abinary signal that indicates whether a control signal for anelectroadhesive clutch is on or off. In the on state, the clutch controlsignal 614 can indicate that an electric signal is provided to one ormore electrodes in the clutch system, and in the off state, the clutchcontrol signal 614 can indicate that the electric signal is removed orchanged to a different value. In an example, when the clutch controlsignal 614 is high or on, the processor circuit 304 can be configured toprovide a first control signal to the signal generator 306 and, inresponse, the signal generator 306 can provide an electric signal to oneor more electrodes in the clutch electrode array 322. When the clutchcontrol signal 614 is low or off, the processor circuit 304 can beconfigured to provide a second control signal to the signal generator306 and, in response, the signal generator 306 can change a value of theelectric signal provided to the one or more electrodes in the clutchelectrode array 322 or the signal generator 306 can stop providing theelectric signal. In an example, when the clutch control signal 614 islow or off, one or more of the electrodes in the clutch electrode array322 can be coupled to ground or to a reference voltage source.

In an example, the clutch control signal 614 can be a multiple-valuedsignal having more than two states or values. That is, the clutchcontrol signal 614 can have states or values that indicate differentlevels of clutch control to be provided by the system. For example, in afirst state, the clutch control signal 614 can indicate zero clutchingor no electric signal provided to electrodes in the clutch electrodearray 322. In a different second state, the clutch control signal 614can indicate moderate clutching or an intermediate magnitude electricsignal provided to electrodes in the clutch electrode array 322. In adifferent third state, the clutch control signal 614 can indicate highclutching or a high magnitude electric signal provided to electrodes inthe clutch electrode array 322, to thereby induce a greater electricfield and greater electrostatic force than in the second state. Morestates with corresponding different clutch forces can similarly be used.

The example of the voltage signal chart 606 includes a clutch voltagesignal 616. In the example of FIG. 6, the clutch voltage signal 616represents a portion of a first AC signal that can be provided to one ormultiple electrodes in the clutch electrode array 322, such as using thesignal generator 306. For example, the clutch voltage signal 616 canrepresent a first AC signal that can be provided to the first electrode324, and a complementary, inverse-polarity second AC signal can beprovided to the second electrode 326, such as substantiallyconcurrently. When the AC signals are provided, an electrostatic forcecan be induced between the first electrode 324 and the second electrode326 to thereby provide a clutch force to hold the electrodes together. Amagnitude of the AC signals can influence a magnitude of the resultingclutch force. For example, an increase in voltage magnitude of the ACsignals can cause a corresponding increase in the clutch force, while adecrease in voltage magnitude can cause a corresponding decrease in theclutch force. In an example, a duty cycle of the AC signals caninfluence a magnitude of the resulting clutch force. For example, anincrease in an on-time duration (e.g., providing the AC signals) cancause a corresponding increase in the clutch force, while a decrease inthe on-time duration can cause a corresponding decrease in the clutchforce.

For example, during a first clutch period between t₁ and t₂, the clutchvoltage signal 616 can comprise an AC signal having a first AC signalmagnitude v₁. During a subsequent second clutch period between t₃ andt₄, the clutch voltage signal 616 can comprise an AC signal having thesame first AC signal magnitude v₁. In an example, the AC signalmagnitude can be based on a magnitude of the acceleration signal 608during the same clutch period, or can be based on a relationship betweena magnitude of the acceleration signal 608 and one or more accelerationmagnitude thresholds. In other words, in the example of FIG. 6, themagnitude of the clutch voltage signal 616 can depend on or can be basedin part on a relationship between a magnitude of the acceleration signal608 and the first acceleration magnitude threshold 610 and the secondacceleration threshold magnitude 612. Since the acceleration signal 608does not exceed the second acceleration threshold magnitude 612 duringthe first and second clutch periods, the magnitude of the clutch voltagesignal 616 can be set to v₁.

The example of FIG. 6 includes examples of a third clutch period betweent₅ and t₆, a fourth clutch period between t₆ and t₇, and a fifth clutchperiod between t₈ and t₉. In the example of the third clutch period, theacceleration signal 608 exceeds the first acceleration magnitudethreshold 610 at time t₅ to thereby trigger a change in the state of theclutch control signal 614 from off to on. Since the acceleration signal608 exceeds the first acceleration magnitude threshold 610 but not thesecond acceleration threshold magnitude 612 during the third clutchperiod, a magnitude of the clutch voltage signal 616 can be set to ormaintained at the first AC signal magnitude v₁. In the example, theacceleration signal 608 can exceed the second acceleration thresholdmagnitude 612 at time t₆ and, in response, the magnitude of the clutchvoltage signal 616 can change from the first AC signal magnitude v₁ to asecond AC signal magnitude v₂. That is, a magnitude of the voltagesignal provided to one or more electrodes in the clutch system canincrease in response to information about a corresponding increase inacceleration. In the example of FIG. 6, the clutch voltage signal 616exhibits a stepwise change from the third clutch period to the fourthclutch period, such as due to changes in the acceleration signal 608over the same time interval corresponding to the third and fourth clutchperiods.

In an example, the clutch voltage signal 616 can be controlled or canchange in other than a stepwise manner. For example, a magnitude of theclutch voltage signal 616 can depend more directly or analogously from amagnitude of the acceleration signal 608. That is, since theacceleration signal 608 can indicate or can be a surrogate for a clutchforce demand (e.g., due to motion or a change in motion of a body orother object), the processor circuit 304 and the signal generator 306can change a magnitude of one or more drive signals for clutchelectrodes in the clutch electrode array 322 depending on a magnitude ofthe acceleration signal 608. In the example of FIG. 6, the fifth clutchperiod shows an example of a clutch voltage signal 616 having amagnitude envelope or morphology characteristic that generallycorresponds to an envelope or morphology characteristic of theacceleration signal 608 at the corresponding time. In other words, amagnitude of the clutch voltage signal 616 can increase incorrespondence with an increase in a magnitude of the accelerationsignal 608. In the example of FIG. 6, the magnitude of the clutchvoltage signal 616 increases to about a third AC signal magnitude v₃,such as can correspond to a peak value of a magnitude of theacceleration signal 608. In an example, changes in magnitude of theclutch voltage signal 616 can track changes in the acceleration signal608 more or less immediately, or changes in magnitude of the clutchvoltage signal 616 can be a function of a change in the accelerationsignal 608. For example, change magnitude information from theacceleration signal 608 can be smoothed and the smoothed information canbe used to control the magnitude of the clutch voltage signal 616.

In an example, a frequency of the clutch voltage signal 616 can be fixedor dynamic. For example, a frequency of the clutch voltage signal 616can depend on, among other things, a magnitude of the accelerationsignal 608, a frequency of the clutch control signal 614, a power orbattery status of the clutch system, a user preference, or otherfrequency control indicator. In the example of FIG. 6, the frequency ofthe clutch voltage signal 616 is substantially the same in the first,second, third, and fourth clutch periods, and the frequency of theclutch voltage signal 616 is reduced in the fifth clutch period. Otherclutch voltage signal 616 frequencies or frequency changes can similarlybe used, such as depending on a desired behavior or power consumptioncharacteristic of the clutch system.

The present inventor has recognized, among other things, that a problemto be solved includes rapidly actuating the clutch system between on andoff states. For example, the problem can include cycling the clutchsystem between on and off (e.g., powered and unpowered) states at a rateof at least about 60 Hz, or 120 Hz, or a greater rate. That is, theproblem can include providing an effective clutch that can changebetween an electrostatically-active or gripping state, and anelectrostatically-inactive or relaxed state, such as multiple times persecond. The problem can include managing dielectric absorption in anelectroadhesive system, such as in the first clutch system 200, theelectroadhesive system 302, or the second clutch system 400, amongothers, such as can develop in capacitive, or capacitor-like, componentsof the system. The phenomenon of dielectric absorption can be understoodin practice to represent an undesired accumulation of charge on orbetween electrodes in the system. Dielectric absorption in a clutchsystem can arise particularly when relatively high voltage stimulussignals are applied to clutch electrodes for a relatively long period oftime.

For example, the first clutch system 200 can include the first electrodeassembly 202 and the second electrode assembly 208 in a configurationthat can be susceptible to dielectric absorption. The first conductivesurface 204 and the second conductive surface 210 can act like plates ofa capacitor, and capacitors are understood to exhibit effects ofdielectric absorption. If the clutch system is charged, for example toactuate the clutch, then discharged and open-circuited, a voltage candevelop between the conductive surfaces due to dielectric absorption.That is, even without reconnecting the first conductive surface 204 andthe second conductive surface 210 to a voltage source such as the signalgenerator 306, the “capacitor” comprising the first conductive surface204 and the second conductive surface 210 can exhibit a voltage memorydue to the influence of a voltage stimulus or actuation signal on thedielectric molecular dipoles that comprise the different assemblies. Inother words, the clutch system can be susceptible to dielectricabsorption or residual voltage effects that can compromise an efficacyof the system, and can compromise a rate at which the system can cyclebetween on and off states. For example, if a residual voltage existsbetween the first conductive surface 204 and the second conductivesurface 210, then the clutch can be prevented from completelydisengaging between clutch cycles, or the system or components thereofcan be inadvertently or intermediately actuated, such as at anintermediate clutching position that can be detrimental or adverse to adesired behavior of the system and therefore can be detrimental to auser experience.

The present inventor has recognized that a solution to the rapidactuation problem can include addressing dielectric absorption in theclutch system. The solution can include, for example, actuating thesystem using a voltage stimulus signal with a polarity that varies overtime, that is, using an alternating current (AC) signal, such as theclutch voltage signal 616 in the example of FIG. 6. The present inventorhas recognized that the shear force, F_(shear), of the clutch system isa function of the applied voltage squared, and the shear force istherefore independent of a polarity of the applied drive voltage. Inother words, the present inventor has recognized that stimulating aclutch system using the AC clutch voltage signal 616 can be beneficialrelative to DC drive signals because the AC signal can help reduce bulkcharge, or effects of dielectric absorption, without adversely affectingthe maximum shear force.

Electric drive signals for an electroadhesive clutch system can rangefrom a few volts to hundreds of volts. Various mechanical features canbe used to help physically isolate electrodes of a clutch system andthereby prevent electrical contact between an electrode and anotherobject. For example, the mechanical features can help prevent contactbetween two or more active electrodes that could cause a short circuit,or can be used to help prevent contact between an electrode and othersensitive objects or surfaces, such as body tissues.

FIG. 7A, FIG. 7B, and FIG. 7C illustrate generally examples ofcross-section views of different electrode assemblies for a clutchsystem, and the electrode assemblies can include various isolationfeatures. For example, FIG. 7A includes a cross-section view of a firstexample assembly 702 a. The first example assembly 702 a can comprise orcorrespond to one or more of the other electrode assemblies discussedherein. In the example of FIG. 7A, the first example assembly 702 aincludes a first conductive member 706 a that is enclosed by a firstelectrode housing 710 a. In an example, the first electrode housing 710a hermetically seals the first conductive member 706 a and insulates itfrom the environment.

The first electrode housing 710 a can comprise at least a firstpolymeric substrate 704 a and a first dielectric member 708 a. In theexample of FIG. 7A, a bottom surface of the first conductive member 706a is coupled to a top surface of the first polymeric substrate 704 a.The first conductive member 706 a can be deposited or otherwise attachedto the first polymeric substrate 704 a, such as along their respectiveadjoining or adjacent surfaces. In the example of FIG. 7A, the firstdielectric member 708 a can be coupled about other sides or surfaces ofthe first conductive member 706 a. For example, the first dielectricmember 708 a can be provided about or can be coupled to top and sidesurfaces of the first dielectric member 708 a, and the first dielectricmember 708 a can be coupled to the first polymeric substrate 704 a tothereby enclose the first conductive member 706 a between the firstdielectric member 708 a and the first polymeric substrate 704 a.

The first example assembly 702 a includes a first conductive lead 712 aextending through the first polymeric substrate 704 a to provide anelectrical signal communication path between the first conductive member706 a and an access terminal in the first electrode housing 710 a. In anexample, the resulting signal communication path can be used to couplethe first conductive member 706 a to the signal generator 306.

FIG. 7B includes a cross-section view of a second example assembly 702b. The second example assembly 702 b can comprise or correspond to oneor more of the other electrode assemblies discussed herein. In theexample of FIG. 7B, the second example assembly 702 b includes a secondconductive member 706 b that is enclosed by a second electrode housing710 b. In an example, the second electrode housing 710 b hermeticallyseals the second conductive member 706 b and insulates it from theenvironment.

The second electrode housing 710 b can comprise at least a secondpolymeric substrate 704 b and a second dielectric member 708 b. In theexample of FIG. 7B, at least a portion of side and bottom surfaces ofthe second conductive member 706 b can be coupled to or embedded in thesecond polymeric substrate 704 b. In the example of FIG. 7B, the seconddielectric member 708 b can be coupled about other sides or surfaces ofthe second conductive member 706 b. For example, the second dielectricmember 708 b can be provided about or can be coupled to a top surface ofthe second dielectric member 708 b and can be coupled about all orportion of the side surfaces of the second dielectric member 708 b. Thedielectric member and the polymeric substrate can be coupled to therebyenclose the second conductive member 706 b between the second dielectricmember 708 b and the second polymeric substrate 704 b.

The second example assembly 702 b includes a second conductive lead 712b extending away from the second conductive member 706 b and to orthrough the second electrode housing 710 b. In the example of FIG. 7B,the second conductive lead 712 b is disposed on or between the secondpolymeric substrate 704 b and/or the second dielectric member 708 b toprovide an electrical signal communication path between the secondconductive member 706 b and an access terminal in the second electrodehousing 710 b. Other conductive lead configurations or attachments cansimilarly be used to provide electrical communication between, forexample, the signal generator 306, and a conductive member of anelectrode assembly in a clutch system.

FIG. 7C includes a cross-section view of a third example assembly 702 c.The third example assembly 702 c can comprise or correspond to one ormore of the other electrode assemblies discussed herein. In the exampleof FIG. 7C, the third example assembly 702 c can comprise at least athird conductive member 706 c coupled between a third polymericsubstrate 704 c and a third dielectric member 708 c. In the example ofFIG. 7C, a bottom surface of the third conductive member 706 c iscoupled to a top surface of the third polymeric substrate 704 c. Thethird conductive member 706 c can be deposited or otherwise attached tothe third polymeric substrate 704 c, such as along their respectiveadjoining or adjacent surfaces. In the example of FIG. 7C, the thirddielectric member 708 c can be coupled to an opposite second side of thethird conductive member 706 c, such as without being coupled to or alongside surfaces of the third conductive member 706 c. Sides of the thirdconductive member 706 c can be uncovered or exposed, such as tofacilitate coupling with external circuitry such as the signal generator306.

The example of FIG. 7C comprises a smoothing agent 714 that is providedon or coupled to the third dielectric member 708 c. The smoothing agent714 can comprise a material that is configured to smooth or fill anyirregularities in a surface of the third dielectric member 708 c tothereby provide a surface with a low coefficient of friction. In anexample, a clutch system can include a pair of electrode assemblies andat least one of the assemblies can comprise the smoothing agent. Whenthe assemblies are provided adjacent to each other, in asurface-to-surface manner, and subjected to the repetitive stress of thesurfaces sliding or moving relative to each other, the smoothing agentcan help facilitate longer system life and reduce wear and tear on theelectrode assembly or assemblies. In an example, the smoothing agent 714can include an ink-based, polymer-based, or other printable materialthat can be deposited in a relatively thin layer on the third dielectricmember 708 c. In an example, the smoothing agent 714 can have a similardielectric permittivity characteristic as the third dielectric member708 c.

In an example, a meniscus of the smoothing agent 714 can reduce asurface energy characteristic of the dielectric member 708 c, and themeniscus can help initiate electroadhesion. The smoothing agent 714 canhelp fill in pores or voids (e.g., defects) in the dielectric member 708c which can short through the lower permittivity air. In an example, thesmoothing agent 714 can include polydimethylsiloxane (PDMS) or othersilicon hydraulic oil or grease.

In the examples of the first example assembly 702 a, the second exampleassembly 702 b, or the third example assembly 702 c, the respectivedielectric or polymeric materials can be preexisting materials orsub-assemblies, or they can comprise materials that are printed,deposited, or otherwise formed at a point of assembly of an electrodeassembly. For example, an electrode assembly can comprise a film-basedpolymeric substrate upon which the conductive member can be printed ordeposited. The dielectric member can comprise a dielectric material thatcan be deposited or printed, or over-printed, on top of the conductivemember and polymeric substrate. By over-printing, the dielectricmaterial can be joined to the polymeric substrate, or other interposingmaterial, such as illustrated in the examples of FIG. 7A and FIG. 7B. Inan example, the dielectric material or the smoothing agent 714 cancomprise a printed material that is deposited in multiple passes orlayers to help maximize uniformity of coverage. In some examples, thesmoothing agent 714 or the dielectric material can be printed ordeposited in a patterned or irregular manner to provide differentfriction characteristics or clutch behavior.

In an example clutch system, electrode assemblies in a particular pairof electrode assemblies can be similarly or differently configured. Forexample, height, length or width characteristics of the assemblies, orof components of the assemblies, can be similar or different. In anexample, different electrode assemblies in the same pair can havedifferent length or width characteristics, such as to facilitate oraccommodate a relatively wider range of relative motion (e.g., inmultiple directions, such as along different axes) between theassemblies. Providing some clearance or room for lateral movement of oneassembly relative to another can help reduce repetitive wear that canform grooves or depressions in the assembly surfaces.

FIG. 8A and FIG. 8B illustrate generally examples of top views ofdifferent electrode assemblies for a clutch system, and the electrodeassemblies can include various isolation features or components that canhelp minimize or prevent contact between conductive portions and otherobjects. For example, FIG. 8A includes a top view of a fourth exampleassembly 802 a. The fourth example assembly 802 a can comprise orcorrespond to one or more of the other electrode assemblies discussedherein. In the example of FIG. 8A, the fourth example assembly 802 aincludes a fourth conductive member 806 a that is at least partiallyenclosed by a housing that comprises a fourth polymeric substrate 804 aand a fourth dielectric member 808 a. In the example of FIG. 8A, thefourth dielectric member 808 a is deposited over top and side surfacesof the fourth conductive member 806 a, such as similarly illustrated inthe cross-section view examples of FIG. 7A and FIG. 7B. The example ofFIG. 8A includes a third conductive lead 810 that provides an electricalsignal path between a drive signal source, such as the signal generator306, and the fourth conductive member 806 a.

FIG. 8B includes a top view of a fifth example assembly 802 b. The fifthexample assembly 802 b can comprise or correspond to one or more of theother electrode assemblies discussed herein. In the example of FIG. 8B,the fifth example assembly 802 b includes a fifth conductive member 806b that is partially enclosed by a housing that comprises a fifthpolymeric substrate 804 b and a fifth dielectric member 808 b. In theexample of FIG. 8B, the fifth dielectric member 808 b is deposited overtop and lengthwise side surfaces of the fifth conductive member 806 b.Widthwise side surfaces of the fifth conductive member 806 b can beexposed or uncovered by the fifth dielectric member 808 b. The examplesof FIG. 8A and FIG. 8B illustrate generally that side surfaces can bepartially or entirely covered or encapsulated by the substrate anddielectric media and other permutations and configurations than thosethat are illustrated can similarly be used.

FIG. 9A, FIG. 9B, FIG. 9C, and FIG. 9D illustrate generally top views ofexamples of various electrode assembly components or assemblies. Assimilarly explained elsewhere herein, when conductive components ofdifferent electrode assemblies are provided adjacent to each other in aclutch system, an electrostatic force can be developed to hold theassemblies together. A magnitude of the force can depend on the electricsignal that is used to drive the electrode assemblies, and can depend ona configuration of the conductive components themselves. That is, thepresent inventor has recognized that a magnitude of a clutch force in aclutch system can be controlled at least in part by a geometry or shapeof a conductor which, in turn, can influence a distribution density ofan electric field about the conductor when it receives an electricsignal, such as from the signal generator 306.

For example, FIG. 9A illustrates generally an example of a sixth exampleassembly 902 a that includes a substrate component, a conductive member,and a dielectric component, such as similarly illustrated in the exampleof FIG. 8B. In the example of FIG. 9A, the dielectric component includesa dielectric gradient member 904. The dielectric gradient member 904 cancomprise a dielectric material that is deposited unevenly or irregularlyabout a top surface of the conductive member. In an example, thegradient can represent a variable thickness of the dielectric gradientmember 904 or can represent a variable permittivity characteristic ofthe dielectric component. The variable thickness or permittivitycharacteristic of the dielectric gradient member 904 can influence abehavior or power consumption of a clutch system that comprises thesixth example assembly 902 a.

FIG. 9B illustrates generally an example of a seventh example assembly902 b that includes a substrate component and a conductive member. Adielectric component can optionally be included in an electrode assemblythat includes the seventh example assembly 902 b, but such dielectric isomitted from the illustration. The seventh example assembly 902 bincludes an irregular conductive member 906. That is, the irregularconductive member 906 can include a conductive member that is similar toone or more of the other conductive members or components discussedelsewhere herein, however, the irregular conductive member 906 includesside edge features, surface features, or other features that areirregular in shape. In the example of FIG. 9B, notches are carved out ofthe lengthwise side surfaces of the conductive member.

When the irregular conductive member 906 receives a drive signal, suchas from the signal generator 306, the irregular conductive member 906can provide an electric field about its surface area. Since the surfacearea is irregular, the resulting electric field can be non-uniform. As aresult, a behavior of a clutch system that comprises the seventh exampleassembly 902 b can be different than the behavior of a system with moreuniform conductive members.

In some examples, the seventh example assembly 902 b can be used where aclutch system features different, discrete “stops” or clutch positions.The positions can correspond to particular electrode orientations. Forexample, a clutch system can be configured to stop where relativelywider portions of respective adjacent conductive members overlap indifferent electrode assemblies, such as because a greater magnitude ofan electric field can be generated between such areas due to theirrelatively larger surface areas. Narrower portions can exhibit smallerfields and can encourage the assembly to “slip” or move into one of thediscrete positions.

FIG. 9C illustrates generally an example of an eighth example assembly902 c that includes a substrate component and a conductive member. Adielectric component can optionally be included in an electrode assemblythat includes the eighth example assembly 902 c, but such dielectric isomitted from the illustration. The eighth example assembly 902 cincludes a tapered conductive member 908. In the example, the taperedconductive member 908 has a greater conductive surface areacharacteristic, per substrate unit area, near a first side of the eighthexample assembly 902 c and a lesser conductive surface areacharacteristic, per substrate unit area, near an opposite second side ofthe eighth example assembly 902 c. Similarly to the example of FIG. 9B,clutching behavior of a clutch system that comprises the eighth exampleassembly 902 c can be influenced or changed by the shape and orientationof the tapered conductive member 908.

FIG. 9D illustrates generally an example of a ninth example assembly 902d that includes a substrate component and a conductive member. Adielectric component can optionally be included in an electrode assemblythat includes the ninth example assembly 902 d, but such dielectric isomitted from the illustration. The ninth example assembly 902 d includesa perforated conductive member 910. The perforated conductive member 910can be configured with various sizes, shapes, or orientations ofperforations or through-holes that, in turn, can influence an electricfield when the example assembly is driven with an electric signal. In anexample, perforations can be distributed regularly or irregularly tothereby provide different electric fields.

In an example, a clutch system can comprise electrodes or conductivemembers or conductors that are similarly or dissimilarly configured. Forexample, the seventh example assembly 902 b can be provided as a firstelectrode assembly in a clutch system opposite the eighth exampleassembly 902 c. In another example, two separate instances of theseventh example assembly 902 b can be provided in a clutch system. Inanother example, the sixth example assembly 902 a can be provided as afirst electrode assembly in a clutch system opposite the ninth exampleassembly 902 d. Other combinations and permutations of differentelectrode conductor types, shapes, sizes, and orientations can similarlybe used to provide different types of clutching behavior and differentamounts of clutch force.

FIG. 10A includes a first view of an encapsulant example 1000 for anelectroadhesive clutch device such as for use with an article ofapparel. The encapsulant example 1000 can be made of a flexible orcompliant material and can form a protective enclosure for electrodes orelectrode assemblies that comprise a clutch device. Other components ordevices of a clutch system, such as an electrical signal generator,accelerometer, or other device, can be provided inside the enclosure.

In FIG. 10A, the encapsulant example 1000 comprises an elongate sleeve,or hollow tube 1008, in which electrodes of a clutch device can beprovided. The electrodes can be configured to slide laterally relativeto each other when the clutch device is disengaged, and the tube orsleeve can be configured to correspondingly expand or contract such thatthe electrodes are retained therein. In an example, the encapsulantexample 1000 includes a first end 1004 and a second end 1006. Theencapsulant example 1000 can be attached to a textile or an article ofapparel at each of the first end 1004 and the second end 1006. One orboth of the first or second ends may help form a watertight seal toprotect the contents within the hollow tube 1008 (shown in FIG. 10C).The tube 1008, or elongate flexible encasing, can be made of an elasticmaterial and may also include a ribbed texture. The ribbed texture iscomprised of a rubberized material. The encasing may include awater-repellant finish on an outer-facing surface of the encasing.

In an example, a first electrode assembly of an electroadhesive clutchcan be fixed to a first end of the elongate flexible encasing and asecond electrode assembly of the electroadhesive clutch can be fixed toa second end of the elongate flexible encasing. A central or middlesection of the elongate flexible encasing is configured to move relativeto the first and second electrode assemblies. The elongate flexibleencasing can form an airtight fit around the first and second electrodeassemblies.

In an example, the flexible encasing is made of a thermoplasticpolyurethane coated stretch knit material. The flexible encasing can bemade of polyurethane-coated 4-way stretch material such as spandex, suchas made of tricot polyester (e.g., 85% polyester, 15% spandex blend).The flexible encasing can be substantially windproof and waterproof andcan be made of a stretchable fabric such as a thin neoprene materialwith a black polyurethane coating.

In another example, the encasing is made to be water-tight,water-resistant, water-repellant, or any variation thereof. The encasingcan be made to conform to various standards related to water ingress.For example, the encasing can conform to consumer electronics wateringress standards as described by the Ingress Protection Code (IPC),such as at IPX2, IPX7, IPX8 or other suitable water ingress protectionlevels. The IPC test IPX2 involves dripping water when tilted up to 15°and states that vertically dripping water shall have no harmful effectwhen the enclosure is tilted at an angle up to 15° from its normalposition. The test duration is 10 minutes and involves a water volumeequivalent to 3 mm rainfall per minute.

The IPC test IPX7 involves immersion up to 1 meter, and states thatingress of water in harmful quantity shall not be possible when theenclosure is immersed in water under defined conditions of pressure andtime (e.g., up to 1 meter of submersion). The test duration is 30minutes, and immersion at a depth of at most 1 m measured at the bottomof the device, and at least 15 cm measured at the top of the device.

The IPC test IPX8 involves immersion beyond 1 meter, for example, at 3-5ATM, such as can be substantially equivalent to 30 m or 50 m of waterdepth. This test helps determine whether equipment is suitable forcontinuous immersion in water under conditions specified by amanufacturer.

The International Electrotechnical Commission (IEC) standard 60529 (or,equivalently, the European standard EN 60529) classifies and rates thedegree of protection provided by mechanical casings and electricalenclosures against intrusion, dust, accidental contact, and water. Otherstandards to which or with which water ingress may be measured orevaluated may include IEC standard 60529, MIL-STD-810, and/or DIN40050-9.

In an example, an electroadhesive device that includes the encasing canbe made to drape with a similar or same property of drape as a fabric towhich the encasing is applied. Drape refers generally to a fabric shapeor profile when held at an edge, or refers to a way in which a fabriccovers an object when used as a tablecloth or a skirt, often referred toin the latter cases as the fabric formability, as may result from thesubject material's response to gravity under its own weight. Anelectroadhesive device (e.g., an electroadhesive clutch and encasing)can, in an example, have substantially the same drape property as afabric with which the device is used. For example, the electroadhesivedevice components and encasing can be made corresponding to the drapecoefficient of fabrics or other textiles with which they are used, ascan be determined using the techniques described in ISO standard9073-9:2008 regarding determination of drape coefficients.

FIG. 10B includes a second view of the encapsulant example 1000 from arear side of the device. In some examples, the body of the encapsulantexample 1000 may include ribbing 1002 or other suitable texture forvisual conformity with the article of apparel. The ribbing 1002 may alsoserve as a functional mechanism to provide a friction hold between theencapsulant example 1000 and a textile of the article of apparel. Theribbing 1002 may be made of rubber, silicone, or other compliantmaterial with a relatively high coefficient of friction. Further, all ora portion of an outer surface 1014 of the encapsulant example 1000, suchas including the portion with the ribbing 1002, may be coated in awater-proof or water-repellant finish. The ribbing 1002 may be locatedon a body of the encapsulant example 1000, on one side of theencapsulant example 1000, on both sides of the encapsulant example 1000,or any other suitable combination.

For example, the ribbing material can be created by bonding a four-waystretch material (e.g., Spandex or other suitable material) to anelastic banding material. The elastic banding material can be bonded tothe encasing (e.g., to the encapsulant example 1000) with a heatactivated film (e.g., NASA-T by Sampo Corp.). By way of the bonding, theencasing gathers and forms a ribbed pattern.

FIG. 10C illustrates a third and side-end view of the encapsulantexample 1000. The first and second electrode assemblies may be insertedinto the encapsulant example 1000 at an opening 1010. That is, theelectrode assemblies can be introduced into the encapsulant example 1000such that they can be encapsulated laterally within or inside of thehollow tube 1008. Other components such as the signal generator 110, theaccelerometer 124, or sensors 120 can additionally or alternatively beinserted and encapsulated within encapsulant example 1000. Theencapsulant example 1000 may form an airtight fit or hermetic sealaround the first and second electrode assemblies along with any othercomponents that are also enclosed. The encapsulant can be configured tostretch in lateral and/or longitudinal directions.

In an example, the encapsulant or housing helps bias the enclosed firstand second electrode assemblies toward each other to encourage theassemblies to remain in close contact while still maintaining sufficientspacing such that the assemblies can move or slide laterally relative toeach other.

In an example, the hollow tube 1008 can comprise a transparent ortranslucent material. In this example, the electrodes of a clutch devicedisposed inside of the tube can be visible to a user. In an example, thetube can be fluid-filled (e.g., using a translucent oil or other fluid).The tube can optionally be illuminated, such as with an illuminationintensity or color that indicates a clutching status of a clutch device,or a magnitude of a clutch force provided by a clutch device, such ascan be enclosed in the tube. In an example, the tube itself or amaterial inside of the tube can be electroluminescent, that is,configured to emit light in response to an electrical signal or anelectric field (e.g., from the clutch device or from another source).

FIG. 10D illustrates generally an example of the hollow tube 1008 of theencapsulant example 1000 with a clutch indicator 134 that can provideinformation about clutch activity for a clutch device that is in, near,or coupled to the tube. In the example of FIG. 10D, the clutch indicator134 includes one or multiple light sources, such as light-emittingdiodes or LEDs, embodied as an LED circuit 1018. The LED circuit 1018can be coupled to the hollow tube 1008, such as inside or outside of thetube. The tube can optionally comprise a transparent or translucentmaterial. The LED circuit 1018 can comprise one or multiple LED devices,such as can be distributed or positioned along a length of the hollowtube 1008. The LED devices that comprise the LED circuit 1018 can beconfigured to emit the same or different wavelengths or colors of light,or each device can be configured to emit light at multiple differentwavelengths or colors.

The LED circuit 1018 can be coupled to an illumination drive circuit1016 that is configured to provide power signals to the one or more LEDdevices that comprise the LED circuit 1018. The illumination drivecircuit 1016 can receive illumination instructions from, for example,the signal generator 110. In an example, the illumination drive circuit1016 can control a brightness or color of light emitted by the LEDcircuit 1018 based on clutch drive signal characteristics as provided bythe signal generator 110. For example, when a relatively large magnitudeclutch drive signal (e.g., corresponding to strong actuation of a clutchdevice that is disposed in the hollow tube 1008) is provided by thesignal generator 110 to the clutch device(s) 108, then the illuminationdrive circuit 1016 can provide a relatively large power signal to theLED circuit 1018 to thereby brightly illuminate the LED devices thatcomprise the LED circuit 1018. When a lower magnitude clutch drivesignal (e.g., corresponding to weak or no actuation of a clutch devicethat is disposed in the hollow tube 1008) is provided by the signalgenerator 110 to the clutch device(s) 108, then the illumination drivecircuit 1016 can provide a relatively low power signal to the LEDcircuit 1018 to thereby weakly illuminate the LED devices. Similarly,the illumination drive circuit 1016 can be used to control the LEDcircuit 1018 to emit different colors of light depending on thecharacteristics of one or more signals from the signal generator 110, orbased on information from one or more of the other sensors 120 in theadaptive support system 100. The clutch indicator 134, such ascomprising the LED circuit 1018, can thus provide visual feedback to auser, or wearer of the adaptive support system 100, about a behavior orstatus of the system. The feedback can be used, for example, to providevalidation that the system is functioning, or to help train the user,such as to train a user to use a different gait or cadence.

Although LED devices are mentioned, other sources of illumination cansimilarly be used in or with the hollow tube 1008. For example, liquidcrystals, electroluminescent or phosphorescent materials, lamps, orother sources can similarly be used. In an example, the hollow tube 1008can comprise or can be filled with a fluid, and the fluid can beilluminated. The fluid can optionally comprise a liquid and, in anexample, a clutch device can be immersed in the liquid. In an example,the liquid can have a viscosity or other characteristic that helpsenhance longevity of the clutch device, such as over many thousands ofclutch actuation cycles.

FIG. 10E illustrates generally an example of a pair of electrodeassemblies that can comprise an electroluminescent displayelectroadhesive clutch, or ELD EAC. The example can include a first ELDelectrode assembly 1020 and a second ELD electrode assembly 1030. In theexample of FIG. 10E, each of the ELD assemblies is illustrated in anexploded view to better illustrate the several layers. In use, the firstand second ELD electrodes assemblies 1020 and 1030 can be provided in anat least partially overlapping manner, as similarly illustrated in theexample of the electroadhesive first clutch system 200. During use, anoverlapping region, as indicated by the portion between the dashed linesin FIG. 10E, can emit light. In an example, one or both of the electrodeassemblies can be configured to emit light.

The example of the first ELD electrode assembly 1020 can include a filmsubstrate 1021, a conductive layer 1022, a phosphor layer 1023, and adielectric layer 1024. The example of the second ELD electrode assembly1030 can include a film substrate 1034, a conductive layer 1033, aphosphor layer 1032, and a dielectric layer 1031. In an example, thefilm substrates 1021 and 1034 can include a PETE film, such as can be aclear polymer film, such as can have a thickness of about 50micrometers. The phosphor layers 1023 and 1032 can include anelectroluminescent material that can be configured to emit light, suchas white light or colored light. In an example, the phosphor layer caninclude DuPont 8150L/8152B material. Each of the phosphor layers can bedeposited or printed and can have a thickness of about 5000 angstroms.In an example, the conductive layer 1022 of the first ELD electrodeassembly 1020 can comprise an aluminum coating or other conductivematerial, such as can have a thickness of about 5000 angstroms. In anexample, the conductive layer 1033 of the second ELD electrode assembly1030 can comprise an indium tin oxide (ITO) material or a conductivepolymer, such as poly(3,4-ethylenedioxythiophene) (PEDOT). Theconductive layer can thus comprise a substantially translucent material,and in some examples can have a thickness of about 2000 angstroms.Providing at least one of the conductive layers with a translucent ortransparent material helps maximize an amount of light that can beemitted from the system. In other examples, the conductive layers can beperforated or otherwise irregularly shaped such that at least one of theconductive layers does not block light emitted from the phosphor layers.In the example of FIG. 10E, the dielectric layers 1024 and 1031 cancomprise a dielectric ink, such as DuPont LuxPrint 8153. The dielectriclayers 1024 and 1031 can have a thickness of about 32 micrometers. Thevarious thickness information is provided for example only and otherdimensions can similarly be used.

FIG. 11 illustrates generally an example of assembling anelectroadhesive system for an article of apparel via an encasing method1100. The encasing method 1100 can include or use various elements ofthe first clutch system 200, the electroadhesive system 302, or thesecond clutch system 400, or other systems or devices discussed herein.

At block 1102, the encasing method 1100 can include assembling anelectroadhesive clutch device for an electroadhesive clutch system. Inan example, block 1102 can include assembling an elongate flexibleencasing forming a watertight enclosure to receive first and secondelectrode assemblies of the clutch device. Block 1102 can also includeassembling or providing an electrical signal generator to provide firstand second drive signals to the first and second electrode assemblies toactuate the clutch system.

In an example, an accelerometer can be placed within the encasing. Theaccelerometer can be configured to measure motion of a body to which theelectroadhesive clutch device is coupled, and an electrical signalgenerator configured to drive the electrode assemblies can be configuredto generate drive signals based on the measured motion from theaccelerometer. When the encasing accelerates at a high rate, theaccelerometer measures the rate and the measured rate information may besent to a processor to determine if the rate meets a specified thresholdindicating that the electroadhesive clutch is to be energized. Inaccordance with a determination that the rate meets the threshold, theprocessor then may send the electrical signal generator an instructionto provide one or more signals to the electrode assemblies of theelectroadhesive clutch device.

At block 1104, the assembled electroadhesive clutch device can beinserted into the flexible encasing, and the encasing can provide awatertight enclosure around the first and second electrode assemblies.The electrical signal generator may also be inserted into the flexibleencasing along with the first and second electrode assemblies, or signalleads can be coupled at or through a portion of the flexible encasing.In an example, the encasing can attach to a textile material of anarticle of apparel at at least a first end of the encasing. The encasingallows the article of apparel to selectively be static (i.e., clutch) orbe flexible.

In an example, the first electrode assembly of the electroadhesiveclutch within the encasing may be substantially fixed relative to afirst end of the encasing. The second electrode assembly of theelectroadhesive clutch may be fixed relative to a second end of theencasing and a middle section of the encasing may be configured to moverelative to the first and second electrode assemblies.

At block 1106, the electroadhesive clutch in the flexible encasing canbe secured to a textile material. For example, the flexible encasing caninclude a first strap of a two strap system for a sports bra. Theflexible encasing can be sewn, attached, embedded, or otherwise affixedto a strap of the sports bra.

In an example, the electrical signal generator can provide a signal tothe electroadhesive device. Continuing in the example given withreference to block 1106, the sports bra may be worn by a wearer forrunning. The sports bra straps include the flexible encasing that housesthe electroadhesive clutch device. The accelerometer 424 may measure theacceleration of the wearer and when the acceleration meets a thresholdcondition, the electrical signal generator can provide signals to theelectroadhesive device to turn it on, thereby causing overlappingportions of the first and second electrode assemblies to become staticor fixed with respect to each other. This static positioning or lockingfunction of the sports bra can support the wearers body fromaccelerating and decelerating at painful or damaging speeds.

In an example, an accelerometer may be configured to measure a magnitudeof acceleration of at least a portion of the electroadhesive device, ora body portion to which the electroadhesive device is coupled. Theelectrical signal generator such as signal generator 306 can beconfigured to generate a signal with a magnitude and/or frequencycharacteristic based at least in part on the magnitude of acceleration.

In an example, an effective elasticity or compliance of a textile orwearable article can be adjusted using a clutch system and based oninformation about motion of a body. For example, if a wearer of thearticle accelerates at a high rate (such as while running), then themeasured acceleration of the wearer can be used to cause the clutchsystem, such as in or integrated with the article of apparel, to stiffen(e.g., remain or become static) by applying one or more particularsignals to an electroadhesive clutch device. The article of apparel'sstiffness or static-ness allows the article to support the wearer whilethe wearer experiences the motion.

FIG. 12A and FIG. 12B include simplified side profile examples 1200 a,1200 b, respectively, of a thermally bonded interface between a portionof a clutch device (e.g., the first conductive member 408) and anencapsulant example 1202. It is noted and emphasized that the examples1200 a, 1200 b are simplified for the purposes of illustration and thatany and all components of the first clutch system 200, the second clutchsystem 400, or any clutch system disclosed herein may be similarlyincorporated. However, to provide clarity of the bonding between thefirst conductive member 408 and the encapsulant example 1202, othercomponents are omitted. The examples 1200 a and 1200 b differ in that inexample 1200 a the encapsulant example 1202 is provided on a first majorsurface of the first conductive member 408 (e.g., exclusively on thefirst major surface) while in example 1200 b the encapsulant example1202 surrounds the first conductive member 408 and is in contact withthe first major surface as well as the opposing second major surface.

The examples 1200 a, 1200 b are presented with respect to the perforatedconductive member 910. However, it is to be recognized and understoodthat any specific implementation of the first conductive member 408,including but not limited to all of the examples of FIG. 9A-FIG. 9D, arecontemplated, and that the principles described with respect to theperforated conductive member 910 may be applied to any first conductivemember 408. Moreover, while the first conductive member 408 is presentedfor the purposes of the examples 1200 a, 1200 b, it is to be recognizedand understood that the same principles apply to the second conductivemember 420 and to any conductive member of any system or apparatusdescribed herein.

In the examples 1200 a, 1200 b, the encapsulant example 1202 has beenbonded to the first conductive member 408 though any suitable mechanism,such as hot melt, radio frequency or ultrasonic welding, or any othertechnique known in the art. The heating of the encapsulant example 1202has caused the encapsulant example 1202 to flow into holes or openings,such as an opening 1204, such as can be formed in any one or more of thefirst conductive member 408, the dielectric member 410, the polymericsubstrate, or other component. While the presence of the holes maypromote bonding and a secure and resilient interface between the firstconductive member 408 and the encapsulant example 1202, examples of thefirst conductive member 408 without holes may still provide bondingbetween the first conductive member 408 and the encapsulant example1202. In some examples, a portion of an electrode assembly to be bondeddoes not include through-holes and instead includes a roughened oruneven surface configured to enhance an adhesive-based coupling with anadjoining member.

Heating or otherwise imparting energy to the first conductive member 408and/or the encapsulant example 1202 may cause the materials of the firstconductive member 408 and/or the encapsulant example 1202 to melt andflow together, creating bonding regions 1206. The bonding regions 1206are regions in which the molecules of the conductive member 408 or 910and encapsulant example 1202 intermingle or mix. The bond forms in thebonding regions 1206 following cooling of the conductive member 408 or910 and the encapsulant example 1202, tending to secure the encapsulantexample 1202 to the conductive member and vice versa.

The materials of the first conductive member 408 and the encapsulantexample 1202 may be selected to be compatible with heating bothmaterials so that strong bonds can form in the bonding regions 1206 suchas without damaging or destroying the underlying integrity of the firstconductive member 408 and encapsulant example 1202. In an example, thefirst conductive member 408 proximate the bonding regions 1206 iscomprised of Mylar. In an example, the encapsulant example 1202 isformed of a knit textile with elastomeric fibers that has a meltingtemperature less than the glass transition temperature of the Mylar.

A discussed in detail herein, the first conductive member 408 and thesecond conductive member 420 are configured to slide laterally withrespect to one another.

Consequently, the examples 1200 a, 1200 b illustrate the firstconductive member 408 bonded to the encapsulant example 1202 at orproximate a first end of the encapsulant example 1202. In such anexample, the second conductive member 420 may be bonded to theencapsulant example 1202 at or proximate a second end of the encapsulantexample 1202 opposite the first end. As a result, the first and secondconductive members 408, 420 are adapted to slide laterally along theinside of a middle portion of a housing that includes the encapsulantexample 1202 when movement of the conductive members is not inhibited bythe operation of the clutch 200, as described in detail herein.

The resultant bonded article including the first conductive member 408and a housing that includes or comprises the encapsulant example 1202may be incorporated into wearable articles or apparel as disclosedherein by securing the encapsulant example 1202 to the wearable article.In various examples, the encapsulant example 1202 may be sewn, fastened,bonded, or otherwise secured to the wearable article without suchmechanisms passing through a conductive member of a clutch, such as thefirst conductive member 408. Doing so may contribute to maintaining thestructural integrity of the conductive member(s) of the clutch as wellwas maintaining the watertight nature of the encapsulant example 1202.However, it is to be recognized and understood the fastening techniquesthat contact the first conductive member 408, such as sewing and thelike, may be utilized without compromising the ability of a conductivemember of a clutch to function or without compromising the durability ofthe clutch device or system.

FIGS. 12C-12K illustrate generally an example of a method for attachingan electrode of a clutch device with a substrate or other conductor,such as can be used to couple the electrode with a power source orcontroller. First, a heat-activated film (e.g., NASA-T by Sampo Corp.),such as having about 200 um thickness, can be cut to match an exposedconductive portion of an electrode (e.g., comprising aluminum; labeled“AL” in FIG. 12C), optionally with an overhang portion of a particulardepth or width (see FIG. 12C). A dielectric-coated portion of theelectrode (e.g., coated with a dielectric ink such as DuPont LuxPrint8153) can be adjacent to the exposed conductive portion of theelectrode. Next, ends of a multiple-wire conductor (e.g., 28 AWG) can besplayed or fanned (FIG. 12D). The ends can be cut to a length that isapproximately the same as the depth of the exposed portion of theconductor. The fanned wires can then be placed onto the exposedconductive portion (e.g., the portion labeled “AL” in the example ofFIG. 12C) and optionally centered. Insulation of the wires can beprovided at or adjacent to an edge of the mylar (see FIG. 12E) such asto minimize thickness or bulk of the assembly.

Next, a liner or backing can be removed from one side of each of twostrips of the heat-activated film. The strips can be used to attach themultiple-wire conductor and mylar by sandwiching the conductor and mylartherebetween (see FIG. 12F, showing the strips spaced apart from theconductor/mylar assembly, such as before attachment). Next, strips of amasking agent or protective material, such as masking tape or othernon-permanent adhesive material, can be applied to edges of the film andto both sides of the conductor to temporarily hold the assembly in placefor further processing (see FIG. 12G showing strips of tape in positionon the assembly).

Next, the assembly can be aligned or adjusted to be just inside of anedge of opposite plates of a dual-sided heat press. In the example ofFIG. 12H, the plates of a heat press are illustrated as the blockslabeled “HOT.” Each side of a platen of the press can be covered with arelease agent (e.g., parchment paper or similar). The conductor can bethreaded between the release agent and not touching the platen, and thedielectric (e.g., ink-coated) portion of the electrode assembly canoptionally be provided outside of the platen area. Next, the press canbe used to tack the film and conductor in place, for example, such thatthe wires in the conductor are in electrical contact with the conductiveportion of the electrode. The press can be adjusted or optimized toensure optimal bonding (e.g., set to heat at about 190 degrees F., forabout 6 seconds, at about 6 PSI pressure). Following a press cycle, themasking agent and release agent can be removed or cut (FIG. 12I).

Next, a polymeric webbing (e.g., stretchable or non-stretchable), suchas having a uniform weave or comprising a non-woven material, can beprovided. The webbing can have a width of about W/2, or half of thewidth of the electrode assembly. In an example, the webbing can be cutto a length of about 6D such that folded-over portions can have a widthof about 3D (FIG. 12J). Next, tape or other adhesive can be used to holdthe webbing in place against the mylar, with the wire portion providedbetween the two webs (FIG. 12K). Next, the assembly can be aligned inthe heat press with release agents and heated again (e.g., as at about240 degrees F. for about 11 seconds at about 6 PSI). Following the heatpress, the assembly can be removed, the tape or other release agents canbe removed, and the assembly can be trimmed to desired dimensions or toremove any excess material. Next, a sensor can optionally be attached,and can optionally be heat-pressed to secure it to the assembly. Othermeans for coupling the sensor can be used. The sensor can comprise, forexample, a stretch sensor or other sensor configured to measure adisplacement of the electrode assembly or of the webbing. Another sensoror another portion of the same sensor can be similarly attached to anoppositely-oriented electrode to provide a complete electrode assemblyfor a clutch.

FIG. 13A illustrates generally an apparel example 1300. A female frontview of support garment 1302 is shown having a left front view of leftencasing 1304, a right front view of right encasing 1306, a left fixingpoint 1308, a right fixing point 1310, a right cup 1312, and a left cup1314.

The apparel example 1300 is an example of a support garment for a wearerhaving a textile layer forming a supportive region configured toadjustably inhibit displacement of a body part of the wearer positionedproximate the supportive region. The apparel example 1300 may alsoinclude a hollow strap affixed to a portion of the textile layer. Thehollow strap encases an electroadhesive clutch device having a firstelectrode assembly and a second electrode assembly. The first and secondelectrode assemblies are at least partially overlapping and configuredto slide laterally relative to the other. The apparel example 1300 mayalso include an electrical signal generator such as the signal generator110 to provide one or more signals to the first and second electrodeassemblies, and the electroadhesive clutch device can be configured toselectively adjust an amount by which the apparel example 1300 allowsdisplacement of the body part proximate the supportive region.

The apparel example 1300 is of a sports bra and the supportive region isa right cup 1312 and a left cup 1314 of the sports bra. The hollow strapreferred to as a left and right encasing are shown in FIG. 13A as afront view of left encasing 1304 and a front view of right encasing1306. Each of the hollow straps are individually addressable orcontrollable by a controller (e.g., by the control circuit 112) toselectively adjust an absolute or relative amount by which the supportgarment allows displacement of the body part. For example, if a wearerhas a larger left breast, the left encasing 1304 may provide a differentlevel of support than the right encasing 1306 provides for the rightbreast.

FIG. 13B illustrates a back view of the apparel example 1300. A backview of support garment 1320 shows a back view of left encasing 1316 andback view of right encasing 1318. The support garment may include agarment control unit 1322 embedded within or coupled to the supportgarment. The garment control unit 1322 can include a system or processorconfigured to control actuation of a clutch.

The support garment may also include a signal generator configured toprovide one or more electrical signals to the first and second electrodeassemblies. The signal generator may be affixed to the apparel example1300 such as within the garment control unit 1322. Alternatively and/oradditionally, the signal generator may be embedded within the encasingswith the first and second electrode assemblies.

The support garment is configured to inhibit displacement of thewearer's body part when the wearer or the wearer's body part is measuredat an acceleration rate higher than a threshold. The support garment isconfigured to relax or allow the support garment to flex.

In some embodiments, the support garment is an athletic supporter havinga right hollow strap (e.g., flexible encasing for an electroadhesiveclutch device) affixed to a right side of the textile layer forming thesupportive region and a left hollow strap affixed to a left side of thetextile layer forming the supportive region. Both the left and righthollow straps work in tandem to selectively inhibit or allowdisplacement of a corresponding body part of the wearer.

Although the embodiment shown includes a female support garment, othergarments are contemplated herein including joint braces (e.g., kneebraces), athletic supporters, athletic girdles, shin guards, footballpads, weightlifting support straps, sneakers for various sports (e.g.,golfing, mountain biking, skiing, mountaineering), and other suitablegarments having a supportive feature for the wearer. Additionally,further garments including undergarments, vests, socks, sleeves,protective gear (e.g., helmets, pads, shields) have also beencontemplated and are within the scope of the solutions discussed herein.

In some embodiments, the electroadhesive clutch device can comprise aportion of a modular apparel system. For example, a support garment (orother garment or article of apparel) can be configured to optionallyinclude or use an electroadhesive clutch device, or other type of clutchdevice, or one or more other systems or devices. In an example, theclutch device can include a modular attachment mechanism provided at oron front, side, or rear portions of the garment. For example, the devicecan be configured to attach at a front portion of the support garment,for example between the breasts, or can be configured to attach at or ona rear portion of the support garment, for example between the shoulderblades. The modular nature of the system may provide different levels ortypes of control or support for a user (e.g., as described with respectto FIG. 13A-13B) such as without requiring an active device to beintegrated with the garment (e.g., sewn in or otherwise permanentlyaffixed, such as at a point of manufacture). In an example, a garmentwith support for modular attachment of a clutch may also include one ormore straps, or hollow conduits through which a strap can be threaded,to selectively couple the garment to provide the functionalities asdescribed, such as with respect to FIG. 13A-13B. In some embodiments,the support garment can include a male athletic supporter that isconfigured to include or use a modular clutch device.

FIG. 13C illustrates an example of the garment control unit 1322. Theexample shows a back view of a left encasing 1316 and a back view of aright encasing 1318. The garment control unit 1322 can be a modulardevice configured for attachment to the support garment 1302 and mayinclude the electroadhesive clutch device. The electroadhesive clutchdevice may be provided within the right encasing 1318, the left encasing1316, and/or positioned adjacent to a control unit base 1336.

The garment control unit 1322 can include left and right straps 1324 and1326, such as can include an adjusting strap, an electroadhesive clutchdevice, or one or more sensors. The straps 1324 and 1326 can bephysically coupled to the base 1336 and can be attached to the supportgarment 1320 by various attachment mechanisms 1338, 1340, 1342, 1344,1346, and 1348. The attachment mechanisms can include O-rings, D-rings,hook and loop fasteners, zippers, snaps, sewing, or any other type ofsuitable attachment mechanism for coupling the garment control unit 1322to a portion of a support garment. In an example, the garment controlunit 1322 is coupled to the support garment and/or a sub-componentattached to the support garment through a right connector 1332 and/orleft connector 1334. The right and left connectors 1332 and 1334 may beused to attach additional modular units including sensors such as anaccelerometer, gyroscope, GPS, heart rate monitor, EKG monitor, or othersensor. In the example of FIG. 13C, the garment control unit 1322includes a controller 1350, such as can comprise the control circuit112, or can comprise the processor circuit 304, or can comprise anotherpurpose-built controller to selectively actuate an electroadhesiveclutch device.

In some embodiments, the garment control unit 1322 may be placed at alocation on a front of the support garment for example between thebreasts or placed at a location on the back of the support garment forexample between the shoulder blades. The modular unit can help providedynamic support of a user's body as described herein, for example,without integration with or permanent affixation to the support garment(e.g., sewn in or otherwise permanently affixed). The modular unit mayinclude one or more hollow straps (e.g., right hollow strap 1326 andleft hollow strap 1324) to selectively couple to the support garment toprovide the functionalities as described with respect to FIG. 13A-13B.

Clutch devices or systems, or modular components thereof, can beprovided for use with various other support garments, such as for femaleor male use. FIG. 13D illustrates generally a front view of a first malesupport garment 1350. The male support garment 1350 includes a left legportion 1352, a right leg portion 1354, a cup portion 1356, and a waistband portion 1358. The male support garment 1350 can include a clutchsystem to selectively restrain or relax various areas of the garmentincluding about the waist, legs, or crotch. FIG. 13E illustratesgenerally an example of a second male support garment 1360 or jockstrap.In some examples, the first and second male support garments 1350 and1360 can be used together.

The example of the second male support garment 1360 includes a waistband 1364, a cup portion 1366, a left leg band 1368 having a left hollowstrap 1370, and a right leg band 1372 having a right hollow strap 1374.In an example, the second male support garment 1360 can include agarment control circuit 1362 coupled to the waistband 1364. The cupportion 1366 may include various textile layers and a correspondingshell (e.g., plastic cup) to provide support and protection for thepenis and testicles of the wearer.

In the example of FIG. 13E, the hollow straps (e.g., left hollow strap1370 and right hollow strap 1374) can be coupled to or embedded withintextile layers of the left leg band 1368 or the right leg band 1372. Insome embodiments, the hollow straps, such as can comprise a flexibleencasing or tube for an electroadhesive clutch device, can be affixed toa leg band, and can include one or more clutch electrode assemblies. Theelectrode assemblies can be selectively energized or de-energized toselectively inhibit or allow displacement of the cup portion 1366. Theexample of the second male support garment 1360 may additionally includean electrical signal generator such as the signal generator 110 toprovide one or more signals to the electrode assemblies. In someembodiments, the clutches provided in the right and left hollow straps1370 and 1374 are configured to work independently to provide a uniquefit, or can be configured to work in tandem to selectively inhibit orallow displacement in a coordinated manner.

FIG. 14 illustrates generally an example of a support garment assemblyand use method 1400. The support garment can include or use variouselements of the first clutch system 200, the electroadhesive system 302,or the second clutch system 400, or other systems or devices discussedherein.

At block 1402, the support garment assembly and use method 1400 includesforming a textile layer for the support garment, such as having asupportive region. The support garment may be a sports bra, an athleticsupporter, or another support garment having a supportive region. Thesupportive region may be a cup of a sports bra or a cup of an athleticsupporter. The supportive region can have a defined region molded into aspecific shape, or alternatively may be a region made of a flexible orcompliant material.

At block 1404, the support garment assembly and use method 1400 includesforming a hollow strap encasing an electroadhesive clutch. The hollowstrap may be a flexible encasing produced via the encasing method 1100from the example of FIG. 11. In an example, the hollow strap can includea first and a second electrode assembly.

At block 1406, the support garment assembly and use method 1400 caninclude affixing the textile layer and the hollow strap together. Thetextile layer, such as having a supportive region, can be coupled withthe hollow strap to provide selective support to the body part incontact with the supportive region. The straps are contemplated to bewithin a close distance of the supportive region to provide the maximumsupportive ability.

At block 1408, the support garment assembly and use method 1400 caninclude providing a signal to the electroadhesive device. The signal maybe from the electric signal generator indicating the electroadhesivedevice is to engage, causing the support garment to maintain its shape.For example, when a user is wearing a sports bra, the material isalready pre-selected to provide a close fit to the wearer. However, whena user is running, the material may stretch and move around, ceasing toprovide adequate support provided by the close fit alone. Thecontemplated support garment provides a mechanism that restricts thematerial from stretching and flexing, providing the user with the closefit support as originally intended.

FIG. 15 includes an example of a first diagram 1500. The first diagram1500 includes a first position signal 1502 that represents a strainexperienced by a runner's connective breast tissue over time, and afirst acceleration signal 1504. The first position signal 1502 is basedon displacement of the same runner's breast tissue over the same periodof time. That is, the first diagram 1500 shows a relationship between achanging position of breast tissue during running with respect to therunner's core or trunk and the corresponding vertical acceleration ofthe runner's core or trunk.

The present inventor recognized that strain in the ligament of Cooper inbreast tissue can be painful or uncomfortable, particularly duringperiods of repetitive motion such as during running. From the example ofFIG. 15, it can be observed that there is a spike in the first positionsignal 1502 indicating significant strain on the ligament. The timing ofmaximum strain generally corresponds to an inflection point of the firstacceleration signal 1504, such as can represent a lower limit of travelof the tissue, such as can correspond to a rapid change in direction ofmotion of the trunk.

For example, when a person is running, the natural cadence of therunning motion causes the breast tissue to move upward and downward.This motion is repeated for each step while the person is running. Thisrepetitive bouncing motion puts strain in the ligament, specifically theLigament of Cooper and may cause long term damage and pain.Additionally, over time, the repetitive strain in the ligament may causethe breast to sag.

FIG. 16 shows an example of a second diagram 1600 showing performance ofa support garment in accordance with some embodiments. The seconddiagram 1600 includes a second acceleration signal 1604, a secondposition signal 1602, and a clutch control signal 1606. In the example,the second acceleration signal 1604 corresponds generally to the firstacceleration signal 1504, such as can represent the changing position ofthe trunk such as during running. The clutch control signal 1606 canrepresent actuation of a clutch system, such as a clutch system for abra, such as for the apparel example 1300. The runner represented by thesecond position signal 1602 can wear the bra from the apparel example1300.

In the example of FIG. 16, the second position signal 1602 indicatesreduced strain as compared to the first position signal 1502 from FIG.15. The reduction in strain can be attributed to use of a systemincluding an electroadhesive device having at least two electrodeassemblies configured to clutch and release. This electroadhesive clutchsystem can be embedded within articles of apparel such as the apparelexample 1300. The article of apparel may selectively clutch and releaseto reduce strain on the ligament in coordination with motion of thewearer.

For example, a runner can wear a supportive sports bra havingelectroadhesive systems embedded within the sports bra. When the systemrecognizes that the person is running, the system signals theelectroadhesive clutch to energize and de-energize at an intervalcorresponding to the person's running pace. On an upward and/or downwardacceleration, the clutch can be energized to statically hold the articleof apparel in a steady, inelastic position.

The electroadhesive clutching provides support for the person while inmotion. When the system recognizes that the person is no longer running,the system signals the electroadhesive clutch to turn off or enter asleep-state, allowing the article of apparel to return to a flexible,compliant, or relaxed state.

FIG. 17 includes an electroadhesive system configured for use infootwear in accordance with some embodiments. In an example, an articleof footwear 1702 includes a base portion 1704 and footwear strap 1706.In some embodiments, the base portion 1704 is made of a knit materialfor maximum comfort and flexibility. In some embodiments, the footwearstrap 1706 includes an electroadhesive system (e.g., electroadhesivesystem 302) that allows the footwear strap to be selectivelyimmobilized, static or rigid. In an example, the footwear 1702 can beworn as a casual, stylish footwear option while still having asupportive element provided by the selectively supportive system of theelectroadhesive system.

For example, a slip-on sneaker that is comfortable for casual wear butalso comfortable for running allows the wearer to wear one sneaker formultiple purposes. As shown in FIG. 17, the footwear 1702 includes astrap portion covering an upper portion of footwear 1702. The strap mayinclude mechanical adhesive systems as well as an electroadhesive systemfor affixing the strap to the footwear and to further provide supportsuch as when the wearer is running by rigidly encasing the foot on aportion of a stride cycle and relaxing the encasing of the foot onanother portion of the stride cycle.

The footwear 1702 can be configured to support multiple modes ofactivity including a sport mode, a chill mode, or a dynamic mode. Thefootwear can adjust a level or timing of clutch actuation based onsensed input (e.g., from motion of the foot within the footwear, from anaccelerometer reading, or other suitable sensor). A sport mode canprovide the wearer with a highest level of support to protect the wearerfrom jarring contact with the ground. A chill mode can provide a relaxedfit when the user is not in a state of heightened motion. A dynamic modecan provide a hybrid fit between a sport mode and a chill mode. In someembodiments, each mode can be manually selected based on an input from awearer. In some embodiments, each mode is automatically configured bythe footwear or by another sensor that is in or coupled to theelectroadhesive system. Other articles of apparel can includeelectroadhesive systems that can be similarly configured to include oruse different modes of activity.

In an example, motion of the footwear 1702 can be sensed from the clutchsystem itself, such as by monitoring relative movement of theelectrodes, or from a motion sensor such as an accelerometer. The motioninformation can be used to selectively actuate the clutch system forfoot support.

FIG. 18A includes an article of apparel such as a first cool down jacket1800 a having one or more apertures coupled to electroadhesive clutchsystems in accordance with some embodiments. The first cool down jacket1800 a can include one or more apertures, such as a first aperture 1802and second aperture 1804. Each of the first aperture 1802 and secondaperture 1804 can include or use an electroadhesive system. For example,opposite side portions of the apertures can comprise respectiveelectrodes of a clutch system. When the electrodes are actuated, theapertures can be caused to selectively open or close. That is,electrodes can be coupled to or integrated with respective portions ofthe cool down jacket 1800 that are on opposite sides of an aperture suchthat the electrodes can be used to open or close the aperture.

As shown in the first aperture 1802, a first orthogonal clutch devices1806 and a second orthogonal clutch devices 1808 can be positionedadjacent to an opening provided by the first aperture 1802. In someembodiments, depending on the size of the aperture, a single orthogonaldevice or multiple orthogonal devices may be used. The orthogonaldevices may each include an electroadhesive system such as theelectroadhesive system 302. Each of the devices can be embedded withinor coupled to a textile or other material of the first cool down jacket1800 a or can be placed on top of a top layer of the article of apparelfor functional and/or aesthetic purposes.

As shown in the example of the second aperture 1804, a first parallelclutch devices 1810 and second parallel clutch devices 1812 can bepositioned adjacent to an opening provided by the second aperture 1804.The first parallel clutch devices 1810 and second parallel clutchdevices 1812 can be positioned parallel to each other and to alongitudinal direction of second aperture 1804.

FIG. 18B shows a view of an article of apparel such as a second cooldown jacket 1800 b in accordance with some embodiments. In the exampleof FIG. 18B, first and second lateral apertures 1822 and 1828 can extendin respective underarm areas toward a torso area of the cool down jacket1800 b. On a first side of the jacket, oppositely-oriented or orthogonalelectrodes 1824 and 1826 of a clutch device can be positioned adjacentto an opening provided by the first lateral aperture 1822. On a secondside of the jacket, parallel electrodes 1830 and 1832 can be positionedadjacent to an opening provided by the second lateral aperture 1828.Additional apertures such as torso apertures 1834 and 1838 can beprovided with corresponding electrodes of respective clutch devices 1836and 1840. The electrodes of clutch devices adjacent or proximate to theapertures can be configured to selectively open or close the aperturesto thereby allow or inhibit airflow through the apertures and thereforethrough the article of apparel to the wearer. Control assemblies for thevarious clutch devices or electrodes can be positioned anywhere on thecool down jacket 1800 b, and are not shown in the illustrated example.Conductors to control electrode behavior can be routed through oradjacent to a textile or other material that comprises the jacket.

FIG. 18C shows a view of an article of apparel such as a third cool downjacket 1800 c in accordance with some embodiments. In the example ofFIG. 18C, a lateral aperture 1816 traverses the back side of the cooldown jacket 1800 at an upper back portion of the jacket. One or moreclutch devices can be coupled adjacent to the aperture. In the exampleshown, multiple upper electrodes 1814 of one or multiple clutch devicescan be positioned orthogonally to the lateral aperture 1816 and multiplelower electrodes 1818 of one or multiple clutch devices can bepositioned orthogonally to the lateral aperture 1816. Pairs of the upperand lower electrodes may be configured to clutch in tandem and/orindependently.

In an example, the third cool down jacket 1800 c includes an embeddedtemperature sensor, such as the temperature sensor 130, to determine atemperature of the wearer. When the temperature of the wearer is lowerthan a specified threshold temperature, the various upper and lowerelectrodes can be energized to close the lateral aperture 1816 or aportion thereof. When the temperature of the wearer is greater than thespecified threshold temperature, the upper and lower electrodes can bede-energized to allow the textile materials to relax and allow moreairflow through the lateral aperture 1816 to reach the wearer.

In some embodiments, the third cool down jacket 1800 c includes a flap1820 to cover the lateral aperture 1816. The flap 1820 can include amanual affixation mechanism to physically couple the flap over theaperture. Some articles of apparel may include more than one apertureand a corresponding flap or clutch for each aperture.

FIG. 18D shows a view of an article of apparel such as a fourth cooldown jacket 1800 d in accordance with some embodiments. In the exampleof FIG. 18D, a lateral aperture 1842 traverses the back side of the cooldown jacket 1800 at a lower back portion. A clutch can be provided toselectively open and close the lateral aperture 1842. For example, theclutch can include an upper clutch electrode 1844 positioned along afirst side of the lateral aperture 1842 and can include a lower clutchelectrode 1846 positioned along an opposite second side of the lateralaperture 1842. In other words, the electrodes can comprise elongateelectrodes that are provided substantially in parallel with the lateralaperture 1842. The upper and lower clutch electrodes 1844 and 1846 canbe selectively energized to close the aperture 1842 or de-energized toopen the aperture 1842. The example of the fourth cool down jacket 1800d can include a flap 1848 to cover the clutch. In an example, acombination of orthogonal and parallel placements of the electrodes maybe used. Other orientations including acute and obtuse angularpositioning with respect to the aperture(s) can similarly be used.Although the examples of FIGS. 18A-18D are presented as different cooldown jackets, the various features of the cool down jackets can be usedtogether or combined in various permutations.

FIG. 18E-G shows an example 1850 that includes an article of apparelsuch as a pair of cool down pants 1851 in accordance with someembodiments. The article of apparel may be a lower-body apparel itemsuch as a pair of leggings or pants 1851. The leggings or pants 1851 caninclude a leg panel having an aperture. Side edges or portions of theaperture can be coupled to electrodes of one or more electroadhesiveclutch devices to selectively open or close the aperture in the leggingsor pants. Possible locations of apertures include at an inner thigh area1854 or outer thigh area 1852.

As shown in FIG. 18F, the cool down pants 1851 can include a panelhaving an aperture behind a knee region 1858 and/or at an ankle region1856. An aperture can be provided at any other location on the pantssuch as corresponding to a body area that typically produces highamounts of body heat or perspiration. As shown in FIG. 18G, the cooldown pants 1851 can include slits at textile seams or pockets, and caninclude a mesh layer at or under an aperture to provide a flexible,breathable, yet continuous article of apparel as indicated by the meshpaneling at aperture 1860.

The clutch devices or clutch system in articles of apparel discussedherein can be configured to operate in a manner such that clutchelectrodes are attracted to each other, or can be configured todisengage or relax. In an example, other features can be included suchthat clutch electrodes, or portions of garments that include theelectrodes, can repel each other. That is, clutch electrodes cancomprise a portion of an aperture control mechanism that can beconfigured to open an aperture (e.g., slit, or pocket) such as toprovide selective venting of body heat or to help dissipateperspiration. The aperture can be biased using optional mechanical meanssuch as elastic to achieve a normally open or normally closedconfiguration in the absence of electrical signal actuation.

FIG. 19 illustrates generally an example of a ventilation method 1900.The ventilation method 1900 can include or use various elements of thefirst clutch system 200, the electroadhesive system 302, or the secondclutch system 400, or other systems or devices discussed herein, such asto selectively vent an article of apparel.

At block 1902, the ventilation method 1900 can include sensing anarticle status or a body status. Block 1902 can include, for example,using one of the sensors 120 to sense information about a wearablearticle or information about a body that is near or wearing the article.In an example, block 1902 can include sensing information about movementof the wearable article, or information about a temperature or moisturecontent of the wearable article. In an example, block 1902 can includesensing information about an activity level of the wearer of thearticle, or a temperature of the wearer of the article.

At block 1904, the ventilation method 1900 can include comparing statusinformation, such as about the article or body, to a specified thresholdcondition. For example, block 1904 can include comparing bodytemperature information acquired at block 1902 to a threshold bodytemperature. In another example, block 1904 can include comparing motioninformation acquired at block 1902 to a threshold motion condition.

At block 1906, the ventilation method 1900 can include selectivelyactuating a clutch to vent an article of apparel. For example, block1906 can include actuating one or more of the clutch devices in the cooldown jacket 1800 based on the article status or body status informationsensed at block 1902.

In an example, the ventilation method 1900 can be applied to variousdifferent articles including, but not limited to, shorts, leggings,pants, athletic supporter, sweatpants, or other article of apparel witha ventilation system. In an example, the ventilation method 1900 caninclude coordinating ventilation among multiple different articles ordevices, such as based on one or more inputs. For example, vents in ajacket and vents in pants can be actuated together, such as in responseto the same information from a body temperature sensor. Articles ofapparel that can include or use a ventilation system are not limited tobut include apparel articles configured to be worn over high temperatureregions of a body including armpits, chest, and back, or over bodyportions that are prone to perspire.

FIG. 20A and FIG. 20B show examples 2000 of a hat 2002 in relaxed andstretched configurations, respectively. FIG. 20C is a detailed sidecutaway of a portion of the hat 2002 to illustrate positioning of thefirst clutch system 200 with respect to the rest of the hat 2002. Whilethe first clutch system 200 is described, it is to be recognized thatany clutch system described herein may be incorporated in addition oralternatively.

The hat 2002 is formed from a textile 2004, such as knit, woven, canvas,or other fabric or material that may be utilized as a hat. The textile2004 and the hat 2002 more generally forms an opening 2006 sized toadmit the head of a wearer and cover the top of the wearer's head.Because of the securing the first clutch system 200 (obscured) proximatethe opening, the ability of the wearer to increase the size of theopening 2006 may be constrained. The first clutch system may be sewn,fastened, or otherwise affixed to the textile 2004 such that theoperation of the first clutch system 200 as disclosed herein is able toinhibit the stretching of the textile 2004 as disclosed herein.

The first clutch system 200 is illustrated as extending around some butnot all of the circumference of the opening 2006. However, it is to berecognized and understood that the first clutch system 200 may extendaround a complete circumference of the opening 2006. Moreover, whileonly one first clutch system 200 is illustrated, it is to be recognizedand understood that multiple first clutch systems 200 may be included inthe hat 2002. The additional first clutch assemblies 200 may be aroundother portions of the opening 2006 or may be positioned at otherlocations around the hat 2002 to selectively inhibit the elasticity orstretchability of those locations consistent with the principlesdisclosed herein.

The textile 2004 may be elastic or otherwise able to stretch in one ormore dimensions, allowing the size of the opening 2006 to increase froma first width 2008 to a second width 2010 larger than the first width2008. It is noted that for the purposes of this illustration that onlytwo widths are illustrated, but it is to be recognized and understoodthat the width of the opening 2006 may be increased or decreased acrossa range of widths, up to the capacity of the textile 2004 to stretchwithout breaking. As such, the first width 2008 and second width 2010are presented for the purposes of illustration and not limitation.

The operation of the first clutch system 200 may inhibit the ability ofa wearer to increase the size of the opening 2006 from the first width2008 to the second width 2010. For example, when the processor circuit304 causes the signal generator 306 to energize the first and secondelectrode assemblies 202, 208, the first clutch system 200 is inhibitedfrom expanding and, consequently, the opening 2006 is not able toincrease from the first width 2008 to the second width 2010. It is notedthat because of the operation of the first clutch system 200, the hat2002 may not be inhibited from relaxing from the second width 2010 backto the first width 2008 when the signal generator 306 is energizing thefirst and second electrode assemblies 202, 208. Consequently, the firstclutch system 200 may be configured to set a maximum width for theopening 2006 but not necessarily a minimum width of the opening 2006.

As shown in FIG. 20C, the textile 2004 of the hat 2002 may form a cavity2012 in which the first clutch system 200, or one or more componentsthereof, is positioned. Alternatively, the first clutch system 200 maybe secured to a side of the textile 2004 or may be secured betweenlayers of the textile 2004 or according to any suitable configuration ormechanism.

The first clutch system 200 may operate according to the same controlsystems described herein. Thus, one or more sensors may detect anorientation or use of the hat 2002 and engage or disengage the firstclutch system 200 depending on the circumstance of use of the hat 2002.

FIG. 21A-FIG. 21C illustrate the incorporation of the first clutchsystem 200 into a sleeve 2102, in an example embodiment. While thesleeve 2102 is presented as a single wearable article, the principlesdisclosed here may apply to any wearable article that incorporates asleeve or other aperture or opening, such as at neck, waist, or armapertures in a shirt or jacket, waist or ankle or other leg openingapertures in pants, or any other suitable wearable article. The sleeve2102 is provided to illustrate the operation of a system with multiplefirst clutch systems 200A, 200B operating together. The sleeve 2102 canbe formed from a textile or other material that is elastic orstretchable and formed into a generally tubular shape with openings 2106at a first end 2108 and a second end 2110 opposite the first end.

The sleeve 2102 includes a first example clutch system 2116 and a secondexample clutch system 2118 located around the openings 2106 proximatethe first end 2108 and the second end 2110, respectively. The firstexample clutch system 2116 and the second example clutch system 2118 maybe independently controllable to allow the opening 2106 proximate thefirst end 2108 and the second end 2110 to be independently expandable ornot expandable in the same manner as the opening 2006 of the hat 2002.Consequently, the sleeve 2102 may be enabled to have a first width 2112or a second width 2114 at either or both of the first end 2108 and thesecond end 2110. Consequently, as illustrated in FIG. 21B, if the firstexample clutch system 2116 is active but the second example clutchsystem 2118 is not active, then the opening 2106 proximate the first end2108 is held at the first width 2112 while the opening 2106 proximatethe second end 2110 is allowed to expend to the second width 2114. Ifthe first example clutch system 2116 is deactivated then the opening2106 proximate the first end 2108 is allowed to expand to the secondwidth 2114 as well, as illustrated in FIG. 21C. FIG. 21A illustrates thesleeve 2102 in a relaxed state with the opening 2106 proximate both thefirst and second ends at the first width 2112.

FIG. 22A and FIG. 22B illustrate generally an apparel example 2202 thatincludes a pocket assembly 2204 with a pocket opening 2206 that can becontrolled by an electroadhesive clutch device, or pocket clutch. FIG.22A illustrates generally a top view of the apparel example 2202 andFIG. 22B illustrates generally a view of the pocket assembly 2204 in apartially open configuration. Various portions of a clutch device arevisible in the example of FIG. 22B, and the clutch device can controlaccess to an interior portion of the pocket assembly 2204.

In the example of FIG. 22B, the pocket assembly 2204 is partially open,with a pocket edge 2216 positioned away from an apparel fabric 2214 orbase portion of the pocket assembly 2204. When the pocket assembly 2204is open, objects can be readily inserted into or removed from aninterior area 2208 of the pocket assembly 2204. The pocket assembly 2204can include an exterior clutch electrode 2210 provided adjacent to thepocket edge 2216, and the pocket assembly 2204 can include an interiorclutch electrode 2212 provided at or on the apparel fabric 2214. Whenthe pocket assembly 2204 is closed, such as due to a mechanical orelastic bias or due to actuation of an electroadhesive force between theelectrodes, the exterior clutch electrode 2210 and the interior clutchelectrode 2212 can be substantially aligned and adjacent to each other.For example, in the top view of FIG. 22A and when the pocket assembly2204 is closed, the electrodes can be concealed by the textile or fabricportions of the apparel example 2202.

In an example, an aperture control mechanism can be configured tooperate such that the textile areas corresponding to the electrodes ofthe clutch repel each other to thereby open an aperture (e.g., a slit,or pocket). The aperture can be biased toward an open or closedconfiguration using mechanical means such as elastic such that, when ina repel mode, the aperture can take the opposite configuration. In anexample, the pocket assembly 2204, such as including the exterior clutchelectrode 2210 and interior clutch electrode 2212 that comprise a clutchdevice at an opening of the pocket, can be biased toward an open orrelaxed pocket configuration, and can optionally include usingmechanical means such as elastic. When the electrodes of the pocketclutch are energized using attractive signals (e.g., signals havingopposite polarity), the pocket opening 2206 of the pocket assembly 2204can be effectively sealed shut. That is, when energized, a user wouldhave to overcome the electrostatic force developed between theelectrodes in order to insert or remove an object from the interior area2208 of the pocket. When the aperture control mechanism of the pocket isconfigured to repel, the pocket opening 2206 of the pocket assembly 2204can be forced into an open configuration.

In an example, the pocket clutch can include or use the first clutchsystem 200, or can comprise a portion of the adaptive support system100, or components thereof. The pocket clutch, which can control accessto the interior area 2208 of the pocket assembly 2204 via an aperture,can optionally be controlled automatically using information from asensor, such as including one or more of the sensors 120 from theexample of the adaptive support system 100. For example, the pocketclutch can be actuated to seal or shut a pocket when the accelerometer124 detects motion (e.g., motion that meets or exceeds a specifiedactivity level threshold) or detects a particular orientation (e.g., anorientation or position that could cause objects inside of the pocket tofall out, such as an upside-down or inverted orientation).

In an example, the pocket clutch can be actuated to release the pocketassembly 2204 under specified orientation or motion conditions, or inresponse to a user command. The aperture or pocket opening 2206 can thushelp prevent theft by selectively locking out access unless or untilaccess is permitted by a user with the appropriate control or command.In an example, a user can use a gesture-based locking or unlockingcommand to control pocket access or clutch behavior, and the gesturecommand can be detected using one or more of the sensors 120.

In an example, the pocket clutch can include an exposed (or nearlyexposed or partially exposed) electrode portion that is configured to beselectively energized. The exposed electrode can optionally comprise aportion of one of the exterior clutch electrode 2210 or the interiorclutch electrode 2212 at or near the clutch at the aperture, such as atthe pocket edge 2216, or on an outer-facing surface of the apparelfabric 2214 at or near the pocket opening 2206, or can comprise aseparate electrode. The exposed electrode can be configured to deliver adeterrent shock when touched. For example, when the pocket clutch isactivated to retain the pocket assembly 2204 in a closed configuration,the exposed electrode portion can augment or enhance theft deterrence byproviding a shock to a hand of an unsuspecting pickpocket. The exposedelectrode portion can be discharged by a user or can be dischargedautomatically based on, e.g., a specified sensor signal, to permitpocket access. In an example, a deterrent shock circuit can be providedto drive the exposed electrode. The circuit can include a power source,a capacitor, and optionally a transformer, such as can be configured togenerate a relatively large voltage with little current.

FIG. 23 is a diagrammatic representation of a machine 2300 within whichinstructions 2308 (e.g., software, a program, an application, an applet,an app, or other executable code) for causing the machine 2300 toperform any one or more of the methodologies discussed herein may beexecuted. For example, the instructions 2308 may cause the machine 2300to execute any one or more of the methods described herein, such as tocontrol a clutch system. The instructions 2308 transform the general,non-programmed machine 2300 into a particular machine 2300 programmed tocarry out the described and illustrated functions in the mannerdescribed. The machine 2300 may operate as a standalone device or may becoupled (e.g., networked) to other machines, such as to coordinateactions or actuation of multiple different clutch devices or clutchsystems. In a networked deployment, the machine 2300 may operate in thecapacity of a server machine or a client machine in a server-clientnetwork environment, or as a peer machine in a peer-to-peer (ordistributed) network environment. The machine 2300 may comprise, but notbe limited to, a server computer, a client computer, a personal computer(PC), a tablet computer, a laptop computer, a netbook, a set-top box(STB), a PDA, an entertainment media system, a cellular telephone, asmart phone, a mobile device, a wearable device (e.g., a smart watch), asmart home device (e.g., a smart appliance), other smart devices, a webappliance, a network router, a network switch, a network bridge, or anymachine capable of executing the instructions 2308, sequentially orotherwise, that specify actions to be taken by the machine 2300.Further, while only a single machine 2300 is illustrated, the term“machine” shall also be taken to include a collection of machines thatindividually or jointly execute the instructions 2308 to perform any oneor more of the methodologies discussed herein.

The machine 2300 may include processors 2302, memory 2304, and I/Ocomponents 2342, which may be configured to communicate with each othervia a bus 2344. In an example embodiment, the processors 2302 (e.g., aCentral Processing Unit (CPU), a Reduced Instruction Set Computing(RISC) Processor, a Complex Instruction Set Computing (CISC) Processor,a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), anASIC, a Radio-Frequency Integrated Circuit (RFIC), another processor, orany suitable combination thereof) may include, for example, a processor2306 and a processor 2310 that execute the instructions 2308. The term“processor” is intended to include multi-core processors that maycomprise two or more independent processors (sometimes referred to as“cores”) that may execute instructions contemporaneously. Although FIG.23 shows multiple processors 2302, the machine 2300 may include a singleprocessor with a single core, a single processor with multiple cores(e.g., a multi-core processor), multiple processors with a single core,multiple processors with multiples cores, or any combination thereof.

The memory 2304 includes a main memory 2312, a static memory 2314, and astorage unit 2316, both accessible to the processors 2302 via the bus2344. The main memory 2304, the static memory 2314, and storage unit2316 store the instructions 2308 embodying any one or more of themethodologies or functions described herein. The instructions 2308 mayalso reside, completely or partially, within the main memory 2312,within the static memory 2314, within machine-readable medium 2318within the storage unit 2316, within at least one of the processors 2302(e.g., within the processor's cache memory), or any suitable combinationthereof, during execution thereof by the machine 2300.

The I/O components 2342 may include a wide variety of components toreceive input, provide output, produce output, transmit information,exchange information, capture measurements, and so on. The specific I/Ocomponents 2342 that are included in a particular machine will depend onthe type of machine. For example, portable machines such as mobilephones may include a touch input device or other such input mechanisms,while a headless server machine will likely not include such a touchinput device. It will be appreciated that the I/O components 2342 mayinclude many other components that are not shown in FIG. 23. In variousexample embodiments, the I/O components 2342 may include outputcomponents 2328 and input components 2330. The output components 2328may include visual components (e.g., a display such as a plasma displaypanel (PDP), a light emitting diode (LED) display, a liquid crystaldisplay (LCD), a projector, or a cathode ray tube (CRT)), acousticcomponents (e.g., speakers), haptic components (e.g., a vibratory motor,resistance mechanisms), other signal generators such as the signalgenerator 110 or signal generator 306, and so forth. The inputcomponents 2330 may include alphanumeric input components (e.g., akeyboard, a touch screen configured to receive alphanumeric input, aphoto-optical keyboard, or other alphanumeric input components),point-based input components (e.g., a mouse, a touchpad, a trackball, ajoystick, a motion sensor, or another pointing instrument), tactileinput components (e.g., a physical button, a touch screen that provideslocation and/or force of touches or touch gestures, or other tactileinput components), audio input components (e.g., a microphone), and thelike.

In further example embodiments, the I/O components 2342 may include thesensors 120 such as can comprise one or more of biometric components2332, motion components 2334, environmental components 2336, or positioncomponents 2338, among a wide array of other components. For example,the biometric components 2332 include components to detect expressions(e.g., hand expressions, facial expressions, vocal expressions, bodygestures, or eye tracking), measure biosignals (e.g., blood pressure,heart rate, body temperature, perspiration, muscle oxygenation, or brainwaves), identify a person (e.g., voice identification, retinalidentification, facial identification, fingerprint identification, orelectroencephalogram-based identification), and the like. The motioncomponents 2334 include acceleration sensor components (e.g.,accelerometer), gravitation sensor components, rotation sensorcomponents (e.g., gyroscope), and so forth. The environmental components2336 include, for example, illumination sensor components (e.g.,photometer), temperature sensor components (e.g., one or morethermometers that detect ambient temperature), humidity sensorcomponents, pressure sensor components (e.g., barometer), acousticsensor components (e.g., one or more microphones that detect backgroundnoise), proximity sensor components (e.g., infrared sensors that detectnearby objects), gas sensors (e.g., gas detection sensors to detectionconcentrations of hazardous gases for safety or to measure pollutants inthe atmosphere), or other components that may provide indications,measurements, or signals corresponding to a surrounding physicalenvironment. The position components 2338 include location sensorcomponents (e.g., a GPS receiver component), altitude sensor components(e.g., altimeters or barometers that detect air pressure from whichaltitude may be derived), orientation sensor components (e.g.,magnetometers), and the like.

Communication may be implemented using a wide variety of technologies.The I/O components 2342 further include communication components 2340operable to couple the machine 2300 to a network 2320 or devices 2322via a coupling 2324 and a coupling 2326, respectively. For example, thecommunication components 2340 may include a network interface componentor another suitable device to interface with the network 2320. Infurther examples, the communication components 2340 may include wiredcommunication components, wireless communication components, cellularcommunication components, Near Field Communication (NFC) components,Bluetooth® components (e.g., Bluetooth® Low Energy), Wi-Fi® components,and other communication components to provide communication via othermodalities. The devices 2322 may be another machine or any of a widevariety of peripheral devices (e.g., a peripheral device coupled via aUSB).

Moreover, the communication components 2340 may detect identifiers orinclude components operable to detect identifiers. For example, thecommunication components 2340 may include Radio Frequency Identification(RFID) tag reader components, NFC smart tag detection components,optical reader components (e.g., an optical sensor to detectone-dimensional bar codes such as Universal Product Code (UPC) bar code,multi-dimensional bar codes and other optical codes), or acousticdetection components (e.g., microphones to identify tagged audiosignals). In addition, a variety of information may be derived via thecommunication components 2340, such as location via Internet Protocol(IP) geolocation, location via Wi-Fi® signal triangulation, location viadetecting an NFC beacon signal that may indicate a particular location,and so forth.

The various memories (e.g., memory 2304, main memory 2312, static memory2314, and/or memory of the processors 2302) and/or storage unit 2316 maystore one or more sets of instructions and data structures (e.g.,software) embodying or used by any one or more of the methodologies orfunctions described herein. These instructions (e.g., the instructions2308), when executed by processors 2302, cause various operations toimplement the disclosed embodiments.

The instructions 2308 may be transmitted or received over the network2320, using a transmission medium, via a network interface device (e.g.,a network interface component included in the communication components2340) and using any one of a number of well-known transfer protocols(e.g., hypertext transfer protocol (HTTP)). Similarly, the instructions2308 may be transmitted or received using a transmission medium via thecoupling 2326 (e.g., a peer-to-peer coupling) to the devices 2322.

Various aspects of the present disclosure can help provide a solution tothe activewear or apparel-related or clutch system problems identifiedherein. For example, various aspects of the present disclosure aredirected to flexible and stretchable water-proof encapsulation foractuator integration into apparel.

In an example, Aspect 1 can include or use subject matter such as anarticle of apparel that can include or use an electroadhesive clutchdevice comprising an elongate encasing forming a watertight enclosure, afirst electrode assembly positioned within the watertight enclosure, anda second electrode assembly, positioned within the watertight enclosure,the second electrode distinct from the first electrode, and at leastpartially overlapping and configured to slide relative to the firstelectrode, an electrical signal generator configured to provide firstand second signals to the first and second electrode assemblies,respectively, wherein the first electrode assembly can be configured toslide laterally relative to the second electrode assembly when the firstand second signals are not applied and remain static relative to thesecond electrode assembly when the first and second signals are applied,and a textile material to which the elongate flexible encasing can beattached at least at a first end of the elongate flexible encasing,wherein actuation of the clutch device is configured to selectivelycause a portion of the article of apparel to be immobilized (e.g.,remain static or in a fixed configuration or orientation) or to bemobilized (e.g., to be movable or flexible or otherwise capable ofmovement of at least a portion of the clutch device or the apparel orthe encasing).

Aspect 2 can include, or can optionally be combined with Aspect 1 toinclude, the elongate encasing as a flexible encasing that is made of orcomprises an elastic material.

Aspect 3 can include, or can optionally be combined with any one or moreof Aspects 1 or 2 to include, a lateral portion of the encasingincluding a ribbed texture.

Aspect 4 can include, or can optionally be combined with Aspect 3 toinclude, the ribbed texture comprising rubber.

Aspect 5 can include, or can optionally be combined with any one or moreof Aspects 1-4 to include, a water repellant finish on an outer-facingsurface of the encasing.

Aspect 6 can include, or can optionally be combined with any one or moreof Aspects 1-5 to include, the first electrode assembly of theelectroadhesive clutch substantially fixed relative to a first end ofthe elongate flexible encasing, the second electrode assembly of theelectroadhesive clutch substantially fixed relative to a second end ofthe elongate flexible encasing, and a middle section of the elongateencasing is configured to move relative to the first and secondelectrode assemblies.

Aspect 7 can include, or can optionally be combined with any one or moreof Aspects 1-6 to include, the elongate encasing forming an airtight fitaround the first and second electrode assemblies.

Aspect 8 can include, or can optionally be combined with any one or moreof Aspects 1-7 to include, an accelerometer provided inside or withinthe encasing, the accelerometer configured to measure motion of a bodyto which the clutch device can be coupled and the electrical signalgenerator can be configured to generate a signal based on the measuredmotion.

Aspect 9 can include, or can optionally be combined with Aspect 8 toinclude, the accelerometer configured to measure a magnitude ofacceleration of at least a portion of the clutch device, and theelectrical signal generator can be configured to generate a signal witha magnitude and/or frequency characteristic based at least in part onthe magnitude of acceleration.

Aspect 10 can include, or can optionally be combined with any one ormore of Aspects 1-9 to include, a light source configured to providelight to illuminate at least a portion of the elongate encasing.

Aspect 11 can include, or can optionally be combined with Aspect 10 toinclude, a brightness of the light provided by the light source based ona characteristic of at least one of the first and second signalsprovided to the electrode assemblies.

Aspect 12 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a method comprising assemblingan electroadhesive clutch device, the device comprising an elongateflexible encasing forming an enclosure, a first electrode assemblypositioned in the enclosure, a second electrode assembly positioned inthe enclosure, the second electrode distinct from the first electrode,and at least partially overlapping and configured to slide relative tothe first electrode, and an electrical signal generator configured toprovide first and second signals to the first and second electrodeassemblies, respectively, wherein the first electrode assembly can beconfigured to slide laterally relative to the second electrode assemblywhen the first and second signals are not applied and to remain staticrelative to the second electrode assembly when the first and secondsignals are applied. The method of Aspect 12 can include securing atextile material to at least a first end of the elongate flexibleencasing of the electroadhesive clutch device, the elongate flexibleencasing allowing the textile material to selectively remain static orbecome flexible.

Aspect 13 can include, or can optionally be combined with Aspect 12 toinclude, the elongate flexible encasing comprising a watertight elasticmaterial configured to provide an enclosure for the clutch device.

Aspect 14 can include, or can optionally be combined with any one ormore of Aspects 12 or 13 to include, a lateral portion of the encasinghaving a ribbed texture.

Aspect 15 can include, or can optionally be combined with any one ormore of Aspects 12-14 to include, the ribbed texture having or includinga rubberized material.

Aspect 16 can include, or can optionally be combined with any one ormore of Aspects 12-15 to include, a water repellant finish on anouter-facing surface of the encasing.

Aspect 17 can include, or can optionally be combined with any one ormore of Aspects 12-16 to include, the first electrode assembly of theelectroadhesive clutch substantially fixed relative to a first end ofthe elongate flexible encasing, the second electrode assembly of theelectroadhesive clutch substantially fixed relative to a second end ofthe elongate flexible encasing, and a middle section of the elongateflexible encasing configured to move relative to the first and secondelectrode assemblies.

Aspect 18 can include, or can optionally be combined with any one ormore of Aspects 12-17 to include, the elongate flexible encasing formingan airtight fit around the first and second electrode assemblies.

Aspect 19 can include, or can optionally be combined with any one ormore of Aspects 12-18 to include, an accelerometer in or coupled to theencasing, the accelerometer configured to measure motion of a body towhich the clutch device is or can be coupled, and the electrical signalgenerator can be configured to generate a signal based on the measuredmotion.

Aspect 20 can include, or can optionally be combined with Aspect 19 toinclude, the accelerometer configured to measure a magnitude ofacceleration of at least a portion of the clutch device and theelectrical signal generator can be configured to generate a signal witha magnitude and/or frequency characteristic based at least in part onthe magnitude of acceleration.

Aspect 21 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an electroadhesive clutchdevice for an article of apparel, the device comprising an elongateflexible encasing forming a watertight enclosure, a first electrodeassembly positioned within the watertight enclosure, a second electrodeassembly, positioned within the watertight enclosure, the secondelectrode distinct from the first electrode, and at least partiallyoverlapping and configured to slide relative to the first electrode, andan electrical signal generator configured to provide first and secondsignals to the first and second electrode assemblies, respectively,wherein the first electrode assembly can be configured to slidelaterally relative to the second electrode assembly when the first andsecond signals are not applied and the first electrode assembly isconfigured to be substantially immobilized (e.g., remain in a static ornon-moving position) relative to the second electrode assembly when thefirst and second signals are applied.

Aspect 22 can include, or can optionally be combined with Aspect 21 toinclude, an accelerometer positioned within the elongate flexibleencasing, the accelerometer configured to measure motion of a body towhich the clutch device can be coupled and the electrical signalgenerator can be configured to generate a signal based on the measuredmotion.

Aspect 23 can include, or can optionally be combined with any one ormore of Aspects 21 or 22 to include, an illumination or light sourceconfigured to provide light to illuminate at least a portion of theelongate flexible encasing or a component therein.

Aspect 24 can include, or can optionally be combined with Aspect 23 toinclude, a driver for the light source, wherein the driver can beconfigured to control a magnitude or amount of the light provided by thelight source based on a magnitude of at least one of the first andsecond signals provided by the electrical signal generator.

Various aspects of the present disclosure are directed to systems andmethods for minimizing accumulation of bulk charge in anelectro-adhesive actuator. For example, Aspect 25 can include, or canoptionally be combined with any of the preceding aspects or examples toinclude, an electroadhesive clutch device comprising a first electrodeassembly comprising a first conductive portion that can be at leastpartially covered by a first dielectric insulator, a second electrodeassembly comprising a second conductive portion that can be at leastpartially covered by a second dielectric insulator, and an electricalsignal generator configured to provide first and second signals to thefirst and second conductive portions of the electrode assemblies,respectively, wherein the first and second signals comprise respectiveopposite-polarity portions of an alternating current (AC) signal. InAspect 25, the first and second electrode assemblies can be at leastpartially overlapping and configured to slide relative to each other attheir respective surfaces that comprise the first and second dielectricinsulators.

Aspect 26 can include, or can optionally be combined with any one ormore of Aspects 25-17 to include, at least one of the first and secondelectrode assemblies configured to move linearly relative to the other.

Aspect 27 can include, or can optionally be combined with any one ormore of Aspects 25 or 26 to include, the electrical signal generatorconfigured to generate the AC signal as a pulse-width modulated signalwith a duty cycle of about 50%.

Aspect 28 can include, or can optionally be combined with any one ormore of Aspects 25-27 to include, the electrical signal generatorconfigured to generate the AC signal as a pulse-width modulated signalhaving an average duty cycle of about 50%.

Aspect 29 can include, or can optionally be combined with any one ormore of Aspects 25-28 to include, the AC signal having a frequency of atleast about 10 Hz.

Aspect 30 can include, or can optionally be combined with Aspect 29 toinclude, the AC signal having a frequency that can be less than about 50Hz.

Aspect 31 can include, or can optionally be combined with any one ormore of Aspects 25-30 to include, an accelerometer configured to measuremotion of a body to which the clutch device can be coupled, and thesignal generator can be configured to generate the AC signal based onthe measured motion.

Aspect 32 can include, or can optionally be combined with any one ormore of Aspects 25-31 to include, an accelerometer configured to measuremotion of the clutch device, and the signal generator can be configuredto generate the AC signal based on the measured motion.

Aspect 33 can include, or can optionally be combined with Aspect 32 toinclude, the accelerometer configured to measure a magnitude of anacceleration of at least a portion of the clutch device, and the signalgenerator can be configured to generate the AC signal with a magnitudeand/or frequency characteristic that depends on the measured magnitudeof the acceleration.

Aspect 34 can include, or can optionally be combined with Aspect 32 toinclude, the accelerometer configured to measure a frequency of a changein acceleration of at least a portion of the clutch device, and thesignal generator can be configured to generate the AC signal with amagnitude and/or frequency characteristic that depends on the measuredfrequency of the change in acceleration.

Aspect 35 can include, or can optionally be combined with any one ormore of Aspects 25-34 to include, a processor circuit configured tocontrol the signal generator to generate the AC signal based oninformation from an accelerometer about an acceleration of the clutchdevice or about an acceleration of a body with which the clutch devicecan be coupled.

Aspect 36 can include, or can optionally be combined with Aspect 35 toinclude, the accelerometer, and the processor circuit can be configuredto receive an acceleration-indicating signal from the accelerometer,identify an oscillatory motion based on the acceleration-indicatingsignal from the accelerometer, and control the signal generator based onthe oscillatory motion as-identified.

Aspect 37 can include, or can optionally be combined with Aspect 36 toinclude, the processor circuit configured to identify a magnitude orfrequency characteristic of the oscillatory motion and, in response,update a magnitude characteristic of the AC signal to thereby update ashear force resistance characteristic of the clutch device.

Aspect 38 can include, or can optionally be combined with any one ormore of Aspects 25-37 to include, a processor circuit configured toreceive a clutch force indication and, in response, control theelectrical signal generator to update a frequency or magnitudecharacteristic of the AC signal based on the clutch force indication.

Aspect 39 can include, or can optionally be combined with Aspect 38 toinclude, a displacement sensor configured to provide the clutch forceindication based on information about a relative displacement of thefirst and second electrode assemblies.

Aspect 40 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a wearable garment with acontrollably expandable and contractible portion, the wearable garmentcomprising a clutch device coupled to the expandable and contractibleportion, the clutch device including a substantially planar firstconductive portion that can be at least partially covered by a firstdielectric insulator and a substantially planar second conductiveportion that can be at least partially covered by a second dielectricinsulator, and an electrical signal generator configured to providefirst and second signals to the first and second conductive portions ofthe clutch device, respectively, wherein the first and second signalscomprise an alternating current (AC) clutch control signal. In Aspect40, the first and second conductive portions of the clutch device can beat least partially overlapping at respective surfaces that comprise thefirst and second dielectric insulators.

Aspect 41 can include, or can optionally be combined with Aspect 40 toinclude, a sensor configured to sense motion or an orientation of thewearable garment. In Aspect 40, the electrical signal generator can beconfigured to update a frequency or magnitude characteristic of the ACclutch control signal based on a sensor signal from the sensor, and thesensor signal can include information about the sensed motion ororientation of the wearable garment.

Aspect 42 can include, or can optionally be combined with any one ormore of Aspects 40 or 41 to include, a displacement sensor configured tomeasure a change in a dimension of the expandable and contractibleportion, and the electrical signal generator can be configured to updatea frequency or magnitude characteristic of the AC clutch control signalbased on measured change in the dimension of the expandable andcontractible portion.

Aspect 43 can include, or can optionally be combined with any one ormore of Aspects 40-42 to include, the electrical signal generatorconfigured to generate the AC clutch control signal as a pulse-widthmodulated signal with a duty cycle of about 50%.

Aspect 44 can include, or can optionally be combined with Aspect 43 toinclude, the AC clutch control signal having a frequency of at leastabout 10 Hz and less than about 50 Hz.

Aspect 45 can include, or can optionally be combined with any of thepreceding aspects or examples to include an electroadhesive clutchdevice comprising a first electrode assembly comprising a planar firstconductive portion, a second electrode assembly comprising a planarsecond conductive portion, a first dielectric member provided betweenthe first and second conductive portions, an electrical signal generatorconfigured to provide first and second signals to the first and secondconductive portions of the electrode assemblies, respectively, whereinthe first and second signals comprise respective opposite-polarityportions of an alternating current (AC) clutch control signal, and thefirst and second electrode assemblies can be at least partiallyoverlapping at along surfaces that comprise the first and secondconductive portions.

Aspect 46 can include, or can optionally be combined with Aspect 45 toinclude, a device housing, wherein the first electrode assembly can besubstantially fixed relative to the device housing, and wherein thesecond electrode assembly can be configured to move relative to thedevice housing and the first electrode assembly.

Aspect 47 can include, or can optionally be combined with any one ormore of Aspects 45 or 46 to include, the first dielectric member coupledto the first conductive portion and provided between the first andsecond conductive portions of the device.

Aspect 48 can include, or can optionally be combined with Aspect 47 toinclude, a second dielectric member coupled to the second conductiveportion and provided between the first dielectric member and the secondconductive portion of the second electrode assembly.

Aspect 49 can include, or can optionally be combined with any one ormore of Aspects 45-48 to include, the electrical signal generatorconfigured to generate the AC clutch control signal as a pulse-widthmodulated signal with an average duty cycle of about 50%.

Aspect 50 can include, or can optionally be combined with Aspect 49 toinclude, the AC clutch control signal having a frequency of at leastabout 10 Hz and less than about 50 Hz.

Aspect 51 can include, or can optionally be combined with any one ormore of Aspects 45-50 to include, an accelerometer configured to measuremotion of the clutch device, and the signal generator can be configuredto generate the AC clutch control signal based on the measured motion.

Various aspects of the present disclosure are directed to minimizingwear in electroadhesive actuators. For example, Aspect 52 can include,or can optionally be combined with any of the preceding aspects orexamples to include, an adaptive wearable article, comprising a textileforming an opening configured to admit a body part of a wearer, and anelectroadhesive clutch secured to the textile and extending around atleast a portion of the opening. In Aspect 52, the electroadhesive clutchcan include a first electrode assembly comprising a first conductivemember and a first polymeric substrate applied to the first conductivemember and having a stiffness greater than a stiffness of the firstconductive member, and a second electrode assembly comprising a secondconductive member overlaying in part the first conductive member, thesecond electrode assembly comprising a second conductive member, and asecond polymeric substrate applied to the second conductive member, thesecond polymeric substrate having a stiffness greater than a stiffnessof the second conductive member. In this example, the first and secondconductive members can be proximate one another with the first andsecond polymeric substrates distal with respect to one another. Aspect52 can include or use an electrical signal generator configured toprovide first and second signals to the first and second conductivemembers of the electrode assemblies, respectively, wherein the firstelectrode assembly can be configured to slide laterally relative to thesecond electrode assembly when the first and second signals are notapplied and remain static relative to the second electrode assembly whenthe first and second signals are applied. In Aspect 52, theelectroadhesive clutch can be configured to inhibit increasing a size ofthe opening when the first and second signals are applied to the firstand second electrode assemblies and the opening can be enabled toincrease in size when the first and second signals are not applied.

Aspect 53 can include, or can optionally be combined with Aspect 52 toinclude, the electroadhesive clutch further comprising a waterproofencasing within which the first and second electrode assemblies arepositioned.

Aspect 54 can include, or can optionally be combined with Aspect 53 toinclude, the waterproof encasing as an elastic waterproof encasingconfigured to return the first and second electrode assemblies to arelaxed position when force can be not placed on the elastic waterproofencasing.

Aspect 55 can include, or can optionally be combined with any one ormore of Aspects 52-54 to include, the first polymeric substrate appliedto the first conductive member with a first adhesive layer and thesecond polymeric substrate applied to the second conductive member witha second adhesive layer.

Aspect 56 can include, or can optionally be combined with Aspect 55 toinclude, the first and second polymeric substrates are polyolefin foam.

Aspect 57 can include, or can optionally be combined with Aspect 56 toinclude, the first and second polymeric substrates having a thickness ofapproximately 0.25 millimeters.

Aspect 58 can include, or can optionally be combined with any one ormore of Aspects 52-57 to include, the electroadhesive clutch comprisinga controller, operatively coupled to the electrical signal generator,and configured to cause the electrical signal generator to apply thefirst and second signals based on an input as received.

Aspect 59 can include, or can optionally be combined with Aspect 58 toinclude, the electroadhesive clutch comprising a sensor, operativelycoupled to the controller, configured to output a sensor signal based ona detected condition of the adaptive article of apparel and thecontroller configured to receive the sensor signal as the input.

Aspect 60 can include, or can optionally be combined with Aspect 59 toinclude, the sensor as being at least one of an accelerometer, a gyro,or a pressure sensor.

Aspect 61 can include, or can optionally be combined with any one ormore of Aspects 52-17 to include, the electroadhesive clutch furthercomprising a user input, operatively coupled to the controller,configured to receive a command from a user and output a signalindicative of the command that can be received as the input by thecontroller.

Aspect 62 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a method of making an adaptivewearable article, comprising forming a textile to include an openingconfigured to admit a body part of a wearer, and securing anelectroadhesive clutch to the textile and extending around at least aportion of the opening. In an example, the electroadhesive clutchincludes a first electrode assembly comprising a first conductivemember, and a first polymeric substrate applied to the first conductivemember and having a stiffness greater than a stiffness of the firstconductive member, and a second electrode assembly comprising a secondconductive member overlaying in part the first conductive member, thesecond electrode assembly comprising a second conductive member, and asecond polymeric substrate applied to the second conductive member, thesecond polymeric substrate having a stiffness greater than a stiffnessof the second conductive member, wherein the first and second conductivemembers are proximate one another with the first and second polymericsubstrates distal with respect to one another.

Aspect 62 can include an electrical signal generator configured toprovide first and second signals to the first and second conductivemembers of the electrode assemblies, respectively, wherein the firstelectrode assembly can be configured to slide laterally relative to thesecond electrode assembly when the first and second signals are notapplied and remain static relative to the second electrode assembly whenthe first and second signals are applied, and the electroadhesive clutchcan be configured to inhibit increasing a size of the opening when thefirst and second signals are applied to the first and second electrodeassemblies and the opening can be permitted or enabled to increase insize when the first and second signals are not applied.

Aspect 63 can include, or can optionally be combined with Aspect 62 toinclude, the electroadhesive clutch further comprising a waterproofencasing within which the first and second electrode assemblies arepositioned.

Aspect 64 can include, or can optionally be combined with Aspect 63 toinclude, the waterproof encasing as an elastic waterproof encasingconfigured to return the first and second electrode assemblies to arelaxed position when force can be not placed on the elastic waterproofencasing.

Aspect 65 can include, or can optionally be combined with any one ormore of Aspects 62-64 to include, the first polymeric substrate appliedto the first conductive member with a first adhesive layer and thesecond polymeric substrate can be applied to the second conductivemember with a second adhesive layer.

Aspect 66 can include, or can optionally be combined with Aspect 65 toinclude, the first and second polymeric substrates as includingpolyolefin foam.

Aspect 67 can include, or can optionally be combined with Aspect 66 toinclude, the first and second polymeric substrates having a thickness ofapproximately 0.25 millimeters.

Aspect 68 can include, or can optionally be combined with any one ormore of Aspects 62-67 to include, the electroadhesive clutch comprisinga controller, operatively coupled to the electrical signal generator,and configured to cause the electrical signal generator to apply thefirst and second signals based on an input as received.

Aspect 69 can include, or can optionally be combined with Aspect 68 toinclude, the electroadhesive clutch further comprising a sensor,operatively coupled to the controller, configured to output a sensorsignal based on a detected condition of the adaptive article of appareland the controller configured to receive the sensor signal as the input.

Aspect 70 can include, or can optionally be combined with Aspect 62 toinclude, the sensor being at least one of an accelerometer, a gyro, or apressure sensor.

Aspect 71 can include, or can optionally be combined with any one ormore of Aspects 62-70 to include, the electroadhesive clutch comprisinga user input, operatively coupled to the controller, configured toreceive a command from a user and output a signal indicative of thecommand that can be received as the input by the controller.

Various aspects of the present disclosure are directed toelectroadhesive systems for use in apparel. For example, Aspect 72 caninclude, or can optionally be combined with any of the preceding aspectsor examples to include, a support garment for a wearer, comprising atextile layer forming a supportive region configured to adjustablyinhibit displacement of a body part of the wearer positioned proximatethe supportive region, and a hollow strap affixed to a portion of thetextile layer. In Aspect 72, the hollow strap encases an electroadhesiveclutch device having a first electrode assembly, a second electrodeassembly distinct from the first electrode assembly at least partiallyoverlapping and configured to slide laterally relative to the firstelectrode assembly and an electrical signal generator to provide one ormore signals to the first and second electrode assemblies. In Aspect 72,the electroadhesive clutch device can be configured to selectivelyadjust an amount by which the support garment allows displacement of thebody part proximate the supportive region.

Aspect 73 can include, or can optionally be combined with Aspect 72 toinclude the support garment as a sports bra and the supportive region asa cup of the sports bra.

Aspect 74 can include, or can optionally be combined with Aspect 73 toinclude the hollow strap comprising a first hollow strap, theelectroadhesive clutch as a first electroadhesive clutch, and the cup asa first cup, and the support garment can include a second hollow strapaffixed to a second portion of the textile layer forming a secondsupportive region, the second hollow strap encasing a secondelectroadhesive clutch device and the second supportive region as asecond cup of the sports bra.

Aspect 75 can include, or can optionally be combined with Aspect 74 toinclude, each of the first and second hollow straps being individuallycontrollable to selectively clutch or tighten and relax or disengage.

Aspect 76 can include, or can optionally be combined with Aspect 74 toinclude a signal generator, the signal generator configured to provideone or more electrical signals to the first and second electroadhesiveclutches.

Aspect 77 can include, or can optionally be combined with Aspect 76 toinclude, the first clutch and the second clutch selectively adjusting anamount by which the support garment allows displacement of the body partat substantially the same time as each other.

Aspect 78 can include, or can optionally be combined with any one ormore of Aspects 72-77 to include, the support garment as an athleticsupporter, wherein the hollow strap can be a right hollow strap affixedto a right side of the textile layer forming the supportive region, thesupport garment can further include a left hollow strap affixed to aleft side of the textile layer forming the supportive region, and theright and left hollow straps can be configured to selectively inhibitdisplacement of the body part of the wearer.

Aspect 79 can include, or can optionally be combined with Aspect 78 toinclude, a displacement sensor for each of the first and second hollowstraps, configured to measure a change in the strap when the straptightens and/or relaxes.

Aspect 80 can include, or can optionally be combined with any one ormore of Aspects 72-79 to include, the first and second electrodeassemblies partially overlapping at their respective surfaces.

Aspect 81 can include, or can optionally be combined with any one ormore of Aspects 72-80 to include, a signal generator configured toprovide one or more signals to the electroadhesive clutch to selectivelyclutch or tighten and relax.

Aspect 82 can include, or can optionally be combined with any one ormore of Aspects 72-81 to include, an accelerometer configured to measuremotion of the electroadhesive clutch and generate one or more signalsbased on the measured motion.

Aspect 83 can include, or can optionally be combined with Aspect 82 toinclude, the support garment configured to tighten when the wearer canbe at an acceleration rate higher than a threshold and relax when thewearer can be at an acceleration rate lower than the threshold. That is,Aspect 83 can include the clutch device configured to immobilize thefirst and second electrode assemblies when the motion as-measuredindicates the wearer exceeds a threshold acceleration and is otherwiseconfigured to allow motion of one or both of the first and secondelectrode assemblies.

Aspect 84 can include, or can optionally be combined with any one ormore of Aspects 72-83 to include, the first and second hollow straps aswaterproof encasings.

Aspect 85 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a method, comprising forming atextile layer of a support garment having a supportive region, andforming a hollow strap to be affixed to a portion of the textile layer,the hollow strap encasing an electroadhesive clutch device having asubstantially planar first conductive portion and a substantially planarsecond conductive portion, the electroadhesive clutch device selectivelyinhibiting or allowing motion of the supportive region relative to abody portion of a wearer of the textile layer.

Aspect 86 can include, or can optionally be combined with Aspect 85 toinclude, the support garment as a sports bra and the supportive regionas a cup of the sports bra.

Aspect 87 can include, or can optionally be combined with Aspect 86 toinclude, the hollow strap as a first hollow strap and theelectroadhesive clutch as a first electroadhesive clutch, and thesupport garment can include a second hollow strap affixed to a secondportion of the textile layer, the second hollow strap encasing a secondelectroadhesive clutch device having a substantially planar firstconductive portion and a substantially planar second conductive portion.

Aspect 88 can include, or can optionally be combined with Aspect 87 toinclude, a signal generator, the signal generator configured to provideone or more electrical signals to the first and second electroadhesiveclutches.

Aspect 89 can include, or can optionally be combined with Aspect 88 toinclude, the first clutch and the second clutch configured toselectively tighten and relax at substantially concurrently, that is, atthe same time as each other. That is, the first and second clutchdevices can be configured to actuate or disengage substantiallyconcurrently.

Aspect 90 can include, or can optionally be combined with any one ormore of Aspects 85-89 to include, the support garment as an athleticsupporter, the hollow strap as a right hollow strap affixed to a rightside of the textile layer forming the supportive region, and the supportgarment can further comprise a left hollow strap affixed to a left sideof the textile layer forming the supportive region, the right and lefthollow straps configured to selectively inhibit displacement of the bodypart of the wearer.

Aspect 91 can include, or can optionally be combined with any one ormore of Aspects 85-90 to include, an accelerometer configured to measurean acceleration rate of the electroadhesive clutch and the supportgarment can be configured to tighten when the wearer is at anacceleration rate higher than a threshold and to relax when the weareris at an acceleration rate lower than the threshold. In other words,Aspect 91 can include measuring an acceleration of the body portion, andthe electroadhesive clutch device can be configured to actuate when theacceleration as-measured is greater than a threshold acceleration and isotherwise configured to disengage.

Aspect 92 can include, or can optionally be combined with any one ormore of Aspects 85-91 to include, actuating an electroluminescentportion of the clutch device in coordination with the selectivetightening and relaxing of the supportive region.

Aspect 93 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an article of apparel,comprising a modular panel for selectively coupling to a supportgarment, the modular panel including an electroadhesive clutch devicehaving a first electrode assembly, a second electrode assembly distinctfrom the first electrode assembly at least partially overlapping andconfigured to slide laterally relative to the first electrode assemblyand an electrical signal generator configured to provide one or moresignals to the first and second electrode assemblies, theelectroadhesive clutch device configured to selectively adjust an amountby which the support garment allows displacement of the body partproximate the supportive region when coupled to the support garment.

Aspect 94 can include, or can optionally be combined with Aspect 93 toinclude, the modular panel further comprises an accelerometer configuredto measure an acceleration of the electroadhesive clutch, and the clutchdevice can be configured to actuate based on a relationship between theacceleration as-measured and a specified threshold acceleration.

Aspect 95 can include, or can optionally be combined with any one ormore of Aspects 93 or 94 to include, the electroadhesive clutch devicecomprises an electroluminescent component that can be configured toilluminate in coordination with actuation of the clutch device.

Aspect 96 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a modular device for use withan article of apparel, the device comprising an interface configured tomechanically couple with a corresponding interface on the article ofapparel, and an electroadhesive clutch device having a first electrodeassembly, a second electrode assembly distinct from the first electrodeassembly at least partially overlapping and configured to slidelaterally relative to the first electrode assembly, and an electricalsignal generator configured to provide one or more signals to the firstand second electrode assemblies.

Aspect 97 can include, or can optionally be combined with Aspect 96 toinclude, the interface of the modular device including a hook-and-loopfastener to couple the modular device with the article of apparel.

Aspect 98 can include, or can optionally be combined with any one ormore of Aspects 96 or 97 to include, the interface of the modular deviceincluding one or more magnetic fasteners to couple the modular devicewith the article of apparel.

Aspect 99 can include, or can optionally be combined with any one ormore of Aspects 96-98 to include, the electroadhesive clutch deviceconfigured to selectively control an amount by which the article ofapparel allows displacement of a wearer's appendage in a supportiveregion of the article of apparel when the interface of the modulardevice is coupled to the corresponding interface on the article ofapparel.

Aspect 100 can include, or can optionally be combined with Aspect 99 toinclude, an accelerometer, and the clutch device can be configured toselectively actuate in response to information from the accelerometer.

Aspect 101 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an article of apparelcomprising a support portion configured to support an appendage of auser, a band portion, coupled to the support portion and configured tobe worn about a waist or a torso of the user, an extensible membercoupled to the support portion and to the band portion, and an interfaceconfigured to couple a clutch device to the extensible member.

Aspect 102 can include, or can optionally be combined with Aspect 101 toinclude, the support portion configured to receive and support a chest(e.g., breast tissue) of the user.

Aspect 103 can include, or can optionally be combined with any one ormore of Aspects 101 or 102 to include, the support portion configured toreceive and support a crotch region (e.g., penis or testicle) of theuser.

Aspect 104 can include, or can optionally be combined with any one ormore of Aspects 101-103 to include, the extensible member furtherconfigured to retract.

Aspect 105 can include, or can optionally be combined with any one ormore of Aspects 101-104 to include, the interface comprising a hookportion or a loop portion of a hook-and-loop type fastener.

Various aspects of the present disclosure are directed to apparel fit orform. For example, Aspect 106 can include, or can optionally be combinedwith any of the preceding aspects or examples to include, an adaptivearticle of apparel comprising a textile forming an opening configured toadmit a body part of a wearer, and an electroadhesive clutch secured tothe textile and extending around at least a portion of the opening. Theelectroadhesive clutch can include a first electrode assembly comprisinga first conductive member, a second electrode assembly comprising asecond conductive member overlaying in part the first conductive member,and an electrical signal generator configured to provide first andsecond signals to the first and second conductive members of theelectrode assemblies, respectively. In Aspect 106, the first electrodeassembly can be configured to slide laterally relative to the secondelectrode assembly when the first and second signals are not applied andremain static relative to the second electrode assembly when the firstand second signals are applied. In Aspect 106, the electroadhesiveclutch can be configured to inhibit increasing a size of the openingwhen the first and second signals are applied to the first and secondelectrode assemblies and the opening can be enabled to increase in sizewhen the first and second signals are not applied. Stated differently,the first electrode assembly can be configured to slide laterallyrelative to the second electrode assembly when the first and secondsignals are absent and the first electrode assembly can be configured tobe laterally immobilized relative to the second electrode assembly whenthe first and second signals are applied. The electroadhesive clutch canbe used or configured to help inhibit or resist changing a size of theopening when the first and second signals are applied to the first andsecond electrode assemblies, and a size of the opening can be adjustablewhen the first and second signals are absent or removed.

Aspect 107 can include, or can optionally be combined with Aspect 106 toinclude, the electroadhesive clutch comprising a waterproof encasingwithin which the first and second electrode assemblies are positioned.

Aspect 108 can include, or can optionally be combined with Aspect 107 toinclude, the waterproof encasing as an elastic waterproof encasingconfigured to return the first and second electrode assemblies to arelaxed position when force can be not placed on the elastic waterproofencasing.

Aspect 109 can include, or can optionally be combined with any one ormore of Aspects 106-108 to include, the textile as a waterproof textileand the textile can be configured to form a watertight seal around thefirst and second electrode assemblies.

Aspect 110 can include, or can optionally be combined with Aspect 109 toinclude, the textile as an elastic textile configured to return thefirst and second electrode assemblies to a relaxed or biased positionwhen force is not placed or exerted on the textile.

Aspect 111 can include, or can optionally be combined with any one ormore of Aspects 106-110 to include, the electroadhesive clutch furthercomprising a controller, operatively coupled to the electrical signalgenerator, configured to cause the electrical signal generator to applythe first and second signals based on an input as received.

Aspect 112 can include, or can optionally be combined with Aspect 111 toinclude, the electroadhesive clutch further comprising a sensor,operatively coupled to the controller, configured to output a sensorsignal based on a detected condition of the adaptive article of appareland the controller can be configured to receive the sensor signal as theinput.

Aspect 113 can include, or can optionally be combined with Aspect 112 toinclude, the sensor as at least one of an accelerometer, a gyro, or apressure sensor.

Aspect 114 can include, or can optionally be combined with any one ormore of Aspects 111-113 to include, the electroadhesive clutch furthercomprising a user input, operatively coupled to the controller,configured to receive a command from a user and output a signalindicative of the command that can be received as the input by thecontroller.

Aspect 115 can include, or can optionally be combined with any one ormore of Aspects 106-114 to include, the adaptive article of apparel as ahat.

Aspect 116 can include, or can optionally be combined with any one ormore of Aspects 106-115 to include, the adaptive article of apparel as asleeve configured to be worn around an arm or leg of the wearer.

Aspect 117 can include, or can optionally be combined with any one ormore of Aspects 106-116 to include, the opening comprises an opening oraperture portion of a pocket that is in or coupled to the article ofapparel.

Aspect 118 can include, or can optionally be combined with any of thepreceding aspects or examples to include a method comprising forming atextile having an opening configured to admit a body part of a wearer,and securing an electroadhesive clutch to the textile, theelectroadhesive clutch extending around at least a portion of theopening. In Aspect 118, the electroadhesive clutch can include at leasta first electrode assembly comprising a first conductive member, asecond electrode assembly comprising a second conductive memberoverlaying in part the first conductive member, an electrical signalgenerator configured to provide first and second signals to the firstand second conductive members of the electrode assemblies, respectively,wherein the first electrode assembly can be configured to slidelaterally relative to the second electrode assembly when the first andsecond signals are not applied and remain static relative to the secondelectrode assembly when the first and second signals are applied, andthe electroadhesive clutch can be configured to inhibit increasing asize of the opening when the first and second signals are applied to thefirst and second electrode assemblies and the opening can be enabled toincrease in size when the first and second signals are not applied.

Aspect 119 can include, or can optionally be combined with Aspect 118 toinclude, the electroadhesive clutch further comprising a waterproofencasing within which the first and second electrode assemblies are orcan be positioned.

Aspect 120 can include, or can optionally be combined with Aspect 119 toinclude, the waterproof encasing as an elastic waterproof encasingconfigured to return the first and second electrode assemblies to arelaxed position when force is disengaged or not placed on the elasticwaterproof encasing.

Aspect 121 can include, or can optionally be combined with any one ormore of Aspects 118-120 to include, the textile as a waterproof textileand the textile can be configured to form a watertight seal around thefirst and second electrode assemblies.

Aspect 122 can include, or can optionally be combined with Aspect 121 toinclude, the textile as an elastic textile configured to return thefirst and second electrode assemblies to a relaxed position when forceis disengaged or not placed on the textile.

Aspect 123 can include, or can optionally be combined with any one ormore of Aspects 118-122 to include, the electroadhesive clutch furthercomprising a controller, operatively coupled to the electrical signalgenerator, configured to cause the electrical signal generator to applythe first and second signals based on an input as received.

Aspect 124 can include, or can optionally be combined with Aspect 123 toinclude, the electroadhesive clutch further comprising a sensor,operatively coupled to the controller, configured to output a sensorsignal based on a detected condition of the adaptive article of appareland the controller configured to receive the sensor signal as the input.

Aspect 125 can include, or can optionally be combined with Aspect 124 toinclude, the sensor as at least one of an accelerometer, a gyroscope, ora pressure sensor.

Aspect 126 can include, or can optionally be combined with any one ormore of Aspects 124 or 125 to include, the electroadhesive clutchfurther comprising a user input, operatively coupled to the controller,configured to receive a command from a user and output a signalindicative of the command that can be received as the input by thecontroller.

Aspect 127 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a garment comprising a garmentbase layer, a pocket portion at least partially affixed to the garmentbase layer, the pocket portion including a pocket aperture at a firstedge of the pocket portion, and an electroadhesive clutch assemblycomprising first and second electrodes, wherein the first electrode canbe coupled at or near the pocket aperture at the first edge of thepocket portion, and the second electrode can be coupled to the garmentbase layer, and wherein the first and second electrodes can beconfigured to selectively close, and retain in a closed or sealedpositioned, the pocket aperture in accordance with actuation of theelectroadhesive clutch assembly.

Aspect 128 can include, or can optionally be combined with Aspect 127 toinclude, a controller for the electroadhesive clutch assembly, and thecontroller can be configured to provide respective electric signals tothe first and second electrodes to thereby control the clutch assembly.

Aspect 129 can include, or can optionally be combined with Aspect 128 toinclude, an accelerometer, wherein the controller can be configured toprovide the respective electric signals to the first and secondelectrodes based on information from the accelerometer.

Aspect 130 can include, or can optionally be combined with Aspect 129 toinclude, the accelerometer configured to measure orientation or postureinformation about a wearer of the garment, and the controller can beconfigured to provide the respective electric signals to the first andsecond electrodes based on the orientation or posture informationas-measured using the accelerometer.

Aspect 131 can include, or can optionally be combined with Aspect 129 toinclude, the accelerometer configured to measure activity levelinformation about a wearer of the garment, and the controller can beconfigured to provide the respective electric signals to the first andsecond electrodes based on the activity level information as-measuredusing the accelerometer.

Various aspects of the present disclosure are directed to selectivelyvented apparel. For example,

Aspect 132 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an article of apparel, thearticle comprising an aperture in the article of apparel, anelectroadhesive clutch device coupled with or integrated into thearticle of apparel and configured to selectively open and close theaperture in the article of apparel, and an electric signal generatorconfigured to send, to the clutch device, one or more signals toselectively open and/or close the aperture.

Aspect 133 can include, or can optionally be combined with Aspect 132 toinclude, the electroadhesive clutch device configured to open theaperture to allow airflow through the flexible aperture. For example,electrodes of the electroadhesive clutch device can be configured todisengage to thereby open the aperture and allow airflow therethrough.

Aspect 134 can include, or can optionally be combined with Aspect 132 or133 to include, a flap to cover the aperture, the flap coupled to theelectroadhesive clutch device and configured to selectively cover anduncover the aperture.

Aspect 135 can include, or can optionally be combined with Aspect 134 toinclude, a manual affixation mechanism to physically couple the flapover the aperture.

Aspect 136 can include, or can optionally be combined with Aspect 134 toinclude, the aperture as a first aperture of a plurality of aperturesand the flap as a first flap of a plurality of flaps, the first flapcorresponding to the first aperture.

Aspect 137 can include, or can optionally be combined with Aspect 136 toinclude, a temperature sensor coupled to the electroadhesive clutchdevice, and the flap can be configured to cover the aperture when awearer of the article has a temperature less than a thresholdtemperature and to uncover the aperture when the wearer has atemperature greater than the threshold temperature.

Aspect 138 can include, or can optionally be combined with Aspect 136 toinclude, each aperture of the plurality of apertures having acorresponding flap of the plurality of flaps, and each flap having acorresponding electroadhesive clutch device.

Aspect 139 can include, or can optionally be combined with any one ormore of Aspects 132-138 to include, the article as a lower-body apparelitem and can include a right leg panel and a left leg panel having anelongated vertical aperture traversing a lower portion of the right andleft leg panels.

Aspect 140 can include, or can optionally be combined with any one ormore of Aspects 132-139 to include, the aperture being horizontallyoriented and extending laterally across the article of apparel.

Aspect 141 can include, or can optionally be combined with any one ormore of Aspects 132-140 to include, the article of apparel as anupper-body apparel item including an upper back panel having anelongated horizontal aperture traversing a backside of the upper-bodyand a corresponding elongated horizontal flap.

Aspect 142 can include, or can optionally be combined with any one ormore of Aspects 132-141 to include, a temperature sensor coupled to theelectroadhesive clutch device, the electroadhesive clutch deviceconfigured to selectively open and close the aperture based on atemperature of a wearer of the article.

Aspect 143 can include, or can optionally be combined with any one ormore of Aspects 132-142 to include, the electroadhesive clutch devicehaving a first and a second electrode assembly, the electrical signalgenerator configured to provide first and second signals to the firstand second electrode assemblies, respectively, and the first and secondsignals are opposite-polarity components of an alternating currentclutch control signal.

Aspect 144 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a method, comprising formingan aperture in an article of apparel, integrating an electroadhesiveclutch device into the article of apparel, the electroadhesive clutchconfigured to selectively open and close the aperture in the article ofapparel, and integrating an electric signal generator into the articleof apparel, the electric signal generator configured to send one or moresignals to the clutch device to selectively open and/or close theaperture.

Aspect 145 can include, or can optionally be combined with Aspect 144 toinclude, the electroadhesive clutch device configured for opening theaperture and allowing airflow through the aperture.

Aspect 146 can include, or can optionally be combined with any one ormore of Aspects 144 or 145 to include, forming a flap for covering theaperture, the flap coupled to the electroadhesive clutch device andconfigured for selectively covering and uncovering the aperture.

Aspect 147 can include, or can optionally be combined with Aspect 146 toinclude, integrating a temperature sensor to be coupled to theelectroadhesive clutch device, and the flap configured to cover theaperture when a wearer of the article has a temperature that is lessthan a threshold temperature and to uncover the aperture when the wearerhas a temperature greater than the threshold temperature.

Aspect 148 can include, or can optionally be combined with any one ormore of Aspects 144-147 to include, the aperture as horizontallyoriented and extending laterally across the article of apparel.

Aspect 149 can include, or can optionally be combined with any one ormore of Aspects 144-148 to include, the electroadhesive clutch devicehaving a first and a second electrode assembly, and the electricalsignal generator configured to provide first and second signals to thefirst and second electrode assemblies, respectively, the first andsecond signals being opposite-polarity portions of an alternatingcurrent electroadhesive clutch control signal.

Aspect 150 can include, or can optionally be combined with any one ormore of Aspects 144-149 to include, the article as a lower-body apparelitem and can include a right leg and a left leg panel having anelongated vertical aperture traversing a lower portion of the right andleft leg panels.

Aspect 151 can include, or can optionally be combined with Aspect 146 toinclude, a manual affixation mechanism to physically couple the flapover the aperture.

Various aspects of the present disclosure are directed to isolation ofelectroadhesive or electrostatic devices in apparel. For example, Aspect152 can include, or can optionally be combined with any of the precedingaspects or examples to include, an electrode device for anelectroadhesive clutch, the electrode device comprising a planarconductive member, and a housing that encloses at least a portion of theconductive member, wherein the housing can include a flexible polymericsubstrate provided adjacent to at least a first surface of theconductive member, and a dielectric member comprising a first portionprovided adjacent to an opposite second surface of the conductivemember, and a second portion provided adjacent to a first side edge ofthe conductive member and coupled to the flexible polymeric substrate.

Aspect 153 can include, or can optionally be combined with Aspect 152 toinclude, the dielectric member comprising a third portion providedadjacent to a second side edge, opposite to the first side edge, of theconductive member and coupled to the flexible polymeric substrate.

Aspect 154 can include, or can optionally be combined with Aspects 152or 153 to include, the polymeric substrate coupled to the first sideedge of the conductive member.

Aspect 155 can include, or can optionally be combined with any one ormore of Aspects 152-154 to include, the planar conductive membercomprising a metal deposited on the polymeric substrate, and thedielectric member can include a substantiallynon-electrically-conductive material deposited on the metal.

Aspect 156 can include, or can optionally be combined with any one ormore of Aspects 152-155 to include, the dielectric member comprising anelastic dielectric ink having an electrical permittivity that can begreater than the permittivity of air.

Aspect 157 can include, or can optionally be combined with any one ormore of Aspects 152-156 to include, a thickness of the dielectric memberadjacent to the first surface of the conductive member can be less thanabout 30 micrometers.

Aspect 158 can include, or can optionally be combined with any one ormore of Aspects 152-157 to include, the housing having a conductivepass-through provided in a portion of the polymeric substrate or thedielectric member, and the housing can be configured to hermeticallyisolate the conductive member.

Aspect 159 can include, or can optionally be combined with any one ormore of Aspects 152-158 to include, the dielectric member comprising aflexible dielectric material.

Aspect 160 can include, or can optionally be combined with any one ormore of Aspects 152-159 to include, a smoothing agent provided on thedielectric member-side of the housing, wherein the smoothing agent canbe configured to reduce a coefficient of friction characteristic of thehousing.

Aspect 161 can include, or can optionally be combined with any one ormore of Aspects 152-160 to include, the housing and the conductivemember as flexible or compliant members.

Aspect 162 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an electroadhesive clutchdevice comprising a first electrode assembly comprising a firstconductive portion that can be at least partially covered by a firstdielectric insulator, and a second electrode assembly comprising asecond conductive portion that can be at least partially covered by asecond dielectric insulator, wherein the first and second conductiveportions have different widths, and wherein the first and secondelectrode assemblies can be at least partially overlapping at theirrespective surfaces that comprise the first and second dielectricinsulators, and the first electrode assembly can be movable relative tothe second electrode assembly in a length direction of the firstconductive portion.

Aspect 163 can include, or can optionally be combined with Aspect 162 toinclude, a clutch frame, wherein the second electrode assembly can beimmobilized relative to the clutch frame, and the first electrodeassembly can be movable relative to the clutch frame.

Aspect 164 can include, or can optionally be combined with Aspects 162or 163 to include, the first and second conductive portions havingdifferent surface area characteristics.

Aspect 165 can include, or can optionally be combined with any one ormore of Aspects 162-164 to include, a first planar surface of the firstconductive portion can be aligned parallel to and overlapping with asecond planar surface of the second conductive portion.

Aspect 166 can include, or can optionally be combined with any one ormore of Aspects 162-165 to include, the first electrode assembly movablerelative to the second electrode assembly in a width direction of thefirst conductive portion.

Aspect 167 can include, or can optionally be combined with Aspect 166 toinclude, a clutch frame configured to couple the first and secondelectrode assemblies such that the conductive portions are parallel andat least partially overlapping.

Aspect 168 can include, or can optionally be combined with Aspect 167 toinclude, an elastic tensioner coupling the clutch frame and the firstelectrode assembly, wherein the elastic tensioner can be configured tobias the first and second electrode assemblies into surface contact atthe surfaces that comprise the first and second dielectric insulators.

Aspect 169 can include, or can optionally be combined with any one ormore of Aspects 162-168 to include, an electrical signal generatorconfigured to provide first and second signals to the first and secondconductive portions of the electrode assemblies, respectively, whereinthe first and second signals comprise respective portions of analternating current (AC) clutch control signal, and in response to thefirst and second signals, an attractive electroadhesive force can bedeveloped between the first and second electrode assemblies.

Aspect 170 can include, or can optionally be combined with any of thepreceding aspects or examples to include, an electrode device for anelectroadhesive clutch, the electrode device comprising a firstsubstrate, an electrically-conductive first trace disposed on theflexible substrate, the first trace having a height, a width, and alength, and a dielectric member disposed on the conductive traceopposite the substrate, wherein at least a portion of the dielectricmember extends over a side edge of the first trace and can be coupledwith the flexible substrate.

Aspect 171 can include, or can optionally be combined with Aspect 170 toinclude, the first substrate comprising a thin-film polymeric substrate.

Aspect 172 can include, or can optionally be combined with Aspects 170or 171 to include, the dielectric member extending over multiple sidesof and encapsulating at least a portion of the first trace against thefirst substrate.

Aspect 173 can include, or can optionally be combined with Aspect 172 toinclude, a conductive passthrough that is electrically coupled to anexternal clutch signal driver and to the first trace, wherein theconductive passthrough provides an electrical signal path through thefirst substrate or through the dielectric member.

Aspect 174 can include, or can optionally be combined with any one ormore of Aspects 170-173 to include, the dielectric member comprising adielectric ink deposited on the first trace and on a surface of thefirst substrate.

Aspect 175 can include, or can optionally be combined with any one ormore of Aspects 170-174 to include, the dielectric member comprising adielectric polymer printed on the first trace and on a surface of thefirst substrate.

Aspect 176 can include, or can optionally be combined with any one ormore of Aspects 170-175 to include, a permittivity of the dielectricmember can be greater than the permittivity of air.

Aspect 177 can include, or can optionally be combined with any one ormore of Aspects 170-176 to include, a permittivity of the dielectricmember can be less than the permittivity of air.

Aspect 178 can include, or can optionally be combined with any one ormore of Aspects 170-177 to include, a thickness of the dielectric memberadjacent to the first trace can be less than about 30 micrometers.

Aspect 179 can include, or can optionally be combined with any one ormore of Aspects 170-178 to include, a polymeric smoothing agent providedon the dielectric member opposite the first trace.

Various aspects of the present disclosure are directed to usingelectroadhesive devices, or components thereof, with textiles and othermaterials. For example, Aspect 180 can include, or can optionally becombined with any of the preceding aspects or examples to include, awearable article, comprising a textile configured to be worn by awearer, and an electroadhesive clutch secured to the textile andcomprising a first electrode assembly comprising a first conductivemember, a second electrode assembly comprising a second conductivemember overlaying in part the first conductive member, an elasticencasing within which the first and second electrode assemblies can bepositioned, the elastic encasing forming a first bond with the firstconductive member at a first location of the elastic encasing and asecond bond with the second conductive member proximate a secondlocation of the elastic encasing different than the first location, andan electrical signal generator configured to provide first and secondsignals to the first and second conductive members of the electrodeassemblies, respectively, wherein the first electrode assembly can beconfigured to slide laterally relative to the second electrode assemblywhen the first and second signals are not applied and remain staticrelative to the second electrode assembly when the first and secondsignals are applied. In Aspect 180, the electroadhesive clutch can beconfigured to inhibit increasing a size of the opening when the firstand second signals are applied to the first and second electrodeassemblies and wherein the opening can be enabled to increase in sizewhen the first and second signals are not applied.

Aspect 181 can include, or can optionally be combined with Aspect 180 toinclude, the elastic encasing as a waterproof elastic encasing.

Aspect 182 can include, or can optionally be combined with Aspect 181 toinclude, the elastic waterproof encasing configured to return the firstand second electrode assemblies to a relaxed position when force isremoved from the elastic waterproof encasing.

Aspect 183 can include, or can optionally be combined with Aspect 182 toinclude, the elastic waterproof encasing can be formed at least in partfrom a polymer configured to form the first and second bonds with thefirst and second conductive members, respectively.

Aspect 184 can include, or can optionally be combined with Aspect 183 toinclude, the polymer as a thermoplastic polyurethane (TPU).

Aspect 185 can include, or can optionally be combined with Aspect 184 toinclude, the first conductive portion forms holes proximate the firstlocation into which the first bond can be formed and the secondconductive member forms holes proximate the second location into whichthe second bond can be formed.

Aspect 186 can include, or can optionally be combined with Aspect 185 toinclude, the first and second conductive members are formed from mylar.

Aspect 187 can include, or can optionally be combined with any one ormore of Aspects 180-186 to include, the electroadhesive clutch furthercomprising a controller, operatively coupled to the electrical signalgenerator, configured to cause the electrical signal generator to applythe first and second signals based on an input as received.

Aspect 188 can include, or can optionally be combined with any one ormore of Aspects 180-187 to include, the electroadhesive clutch furthercomprising a sensor, operatively coupled to the controller, configuredto output a sensor signal based on a detected condition of the adaptivearticle of apparel and the controller can be configured to receive thesensor signal as the input.

Aspect 189 can include, or can optionally be combined with Aspect 188 toinclude the sensor as at least one of an accelerometer, a gyro, or apressure sensor.

Aspect 190 can include, or can optionally be combined with any of thepreceding aspects or examples to include, a method of making an adaptivearticle of apparel, comprising forming a textile configured to be wornby a wearer, and securing an electroadhesive clutch to the textile, theelectroadhesive clutch comprising a first electrode assembly comprisinga first conductive member, a second electrode assembly comprising asecond conductive member overlaying in part the first conductive member,an elastic encasing within which the first and second electrodeassemblies are positioned, the elastic encasing forming a first bondwith the first conductive member at a first location of the elasticencasing and a second bond with the second conductive member proximate asecond location of the elastic encasing different than the firstlocation, and an electrical signal generator configured to provide firstand second signals to the first and second conductive members of theelectrode assemblies, respectively, wherein the first electrode assemblycan be configured to slide laterally relative to the second electrodeassembly when the first and second signals are not applied and remainstatic relative to the second electrode assembly when the first andsecond signals are applied. In Aspect 190, the electroadhesive clutchcan be configured to inhibit increasing a size of the opening when thefirst and second signals are applied to the first and second electrodeassemblies and the opening can be enabled to increase in size when thefirst and second signals are not applied.

Aspect 191 can include, or can optionally be combined with Aspect 190 toinclude, the elastic encasing as a waterproof elastic encasing.

Aspect 192 can include, or can optionally be combined with Aspect 191 toinclude, the elastic waterproof encasing configured to return the firstand second electrode assemblies to a relaxed position when force isremoved from the elastic waterproof encasing.

Aspect 193 can include, or can optionally be combined with Aspect 192 toinclude, the elastic waterproof encasing formed at least in part from apolymer configured to form the first and second bonds with the first andsecond conductive members, respectively.

Aspect 194 can include, or can optionally be combined with Aspect 193 toinclude, the polymer as a thermoplastic polyurethane (TPU).

Aspect 195 can include, or can optionally be combined with Aspect 194 toinclude, the first conductive portion forms holes proximate the firstlocation into which the first bond can be formed and the secondconductive member forms holes proximate the second location into whichthe second bond can be formed.

Aspect 196 can include, or can optionally be combined with Aspect 195 toinclude, the first and second conductive members formed from orcomprising mylar.

Aspect 197 can include, or can optionally be combined with any one ormore of Aspects 190-196 to include, the electroadhesive clutch furthercomprising a controller, operatively coupled to the electrical signalgenerator, configured to cause the electrical signal generator to applythe first and second signals based on an input as received.

Aspect 198 can include, or can optionally be combined with Aspect 197 toinclude, the electroadhesive clutch further comprising a sensor,operatively coupled to the controller, and configured to output a sensorsignal based on a detected condition of the adaptive article of appareland the controller can be configured to receive the sensor signal as theinput.

Aspect 199 can include, or can optionally be combined with Aspect 198 toinclude, the sensor as at least one of an accelerometer, a gyro, or apressure sensor.

Each of these non-limiting Aspects can stand on its own, or can becombined in various permutations or combinations with one or more of theother Aspects, examples, or features discussed elsewhere herein.

The above description includes references to the accompanying drawings,which form a part of the detailed description. The drawings show, by wayof illustration, specific embodiments in which the invention can bepracticed. These embodiments are also referred to herein as “examples.”Such examples can include elements in addition to those shown ordescribed. However, the present inventor also contemplates examples inwhich only those elements shown or described are provided. Moreover, thepresent inventor also contemplates examples using any combination orpermutation of those elements shown or described (or one or more aspectsthereof), either with respect to a particular example (or one or moreaspects thereof), or with respect to other examples (or one or moreaspects thereof) shown or described herein.

In this document, the terms “a” or “an” are used, as is common in patentdocuments, to include one or more than one, independent of any otherinstances or usages of “at least one” or “one or more.” In thisdocument, the term “or” is used to refer to a nonexclusive or, such that“A or B” includes “A but not B,” “B but not A,” and “A and B,” unlessotherwise indicated. In this document, the terms “including” and “inwhich” are used as the plain-English equivalents of the respective terms“comprising” and “wherein.” Also, in the following claims, the terms“including” and “comprising” are open-ended, that is, a system, device,article, composition, formulation, or process that includes elements inaddition to those listed after such a term in a claim are still deemedto fall within the scope of that claim. Moreover, in the followingclaims, the terms “first,” “second,” and “third,” etc. are used merelyas labels, and are not intended to impose numerical requirements ontheir objects.

Geometric terms, such as “parallel” or “perpendicular” or “round” or“square,” among others, are not intended to require absolutemathematical precision, unless the context indicates otherwise. Instead,such geometric terms allow for variations due to manufacturing orequivalent functions. For example, if an element is described as “round”or “generally round,” a component that is not precisely circular (e.g.,one that is slightly oblong or is a many-sided polygon) is stillencompassed by this description.

Method examples described herein can be machine or computer-implementedat least in part. Some examples can include a computer-readable mediumor machine-readable medium encoded with instructions operable toconfigure an electronic device to perform methods as described in theabove examples. An implementation of such methods can include code, suchas microcode, assembly language code, a higher-level language code, orthe like. Such code can include computer readable instructions forperforming various methods. The code may form portions of computerprogram products. Further, in an example, the code can be tangiblystored on one or more volatile, non-transitory, or non-volatile tangibleComputer-Readable Media, such as during execution or at other times.Examples of these tangible Computer-Readable Media can include, but arenot limited to, hard disks, removable magnetic disks, removable opticaldisks (e.g., compact disks and digital video disks), magnetic cassettes,memory cards or sticks, random access memories (RAMs), read onlymemories (ROMs), and the like.

The above description is intended to be illustrative, and notrestrictive. For example, the above-described examples (or one or moreaspects thereof) may be used in combination with each other. Otherembodiments can be used, such as by one of ordinary skill in the artupon reviewing the above description. The Abstract is provided to allowthe reader to quickly ascertain the nature of the technical disclosure.It is submitted with the understanding that it will not be used tointerpret or limit the scope or meaning of the claims. Also, in theabove Detailed Description, various features may be grouped together tostreamline the disclosure. This should not be interpreted as intendingthat an unclaimed disclosed feature is essential to any claim. Rather,inventive subject matter may lie in less than all features of aparticular disclosed embodiment. Thus, the following claims are herebyincorporated into the Detailed Description as examples or embodiments,with each claim standing on its own as a separate embodiment, and it iscontemplated that such embodiments can be combined with each other invarious combinations or permutations. The scope of the invention shouldbe determined with reference to the appended claims, along with the fullscope of equivalents to which such claims are entitled.

What is claimed is:
 1. An electroadhesive clutch device comprising: afirst electrode assembly comprising a first conductive portion that isat least partially covered by a first dielectric insulator; a secondelectrode assembly comprising a second conductive portion that is atleast partially covered by a second dielectric insulator; and anelectrical signal generator configured to provide first and secondsignals to the first and second conductive portions of the electrodeassemblies, respectively, wherein the first and second signals compriserespective opposite-polarity portions of an alternating current (AC)signal; wherein the first and second electrode assemblies are at leastpartially overlapping and configured to slide relative to each other attheir respective surfaces that comprise the first and second dielectricinsulators.
 2. The electroadhesive clutch device of claim 1, wherein atleast one of the first and second electrode assemblies is configured tomove linearly relative to the other.
 3. The electroadhesive clutchdevice of claim 1, wherein the electrical signal generator is configuredto generate the AC signal as a pulse-width modulated signal with a dutycycle of about 50%.
 4. The electroadhesive clutch device of claim 1,wherein the electrical signal generator is configured to generate the ACsignal as a pulse-width modulated signal having an average duty cycle ofabout 50%.
 5. The electroadhesive clutch device of claim 1, wherein theAC signal has a frequency of at least about 10 Hz.
 6. Theelectroadhesive clutch device of claim 5, wherein the AC signal has afrequency that is less than about 50 Hz.
 7. The electroadhesive clutchdevice of claim 1, further comprising an accelerometer configured tomeasure motion of a body to which the clutch device is coupled, whereinthe signal generator is configured to generate the AC signal based onthe measured motion.
 8. The electroadhesive clutch device of claim 1,further comprising an accelerometer configured to measure motion of theclutch device, wherein the signal generator is configured to generatethe AC signal based on the measured motion.
 9. The electroadhesiveclutch device of claim 8, wherein the accelerometer is configured tomeasure a magnitude of an acceleration of at least a portion of theclutch device, and wherein the signal generator is configured togenerate the AC signal with a magnitude and/or frequency characteristicthat depends on the measured magnitude of the acceleration.
 10. Theelectroadhesive clutch device of claim 8, wherein the accelerometer isconfigured to measure a frequency of a change in acceleration of atleast a portion of the clutch device, and wherein the signal generatoris configured to generate the AC signal with a magnitude and/orfrequency characteristic that depends on the measured frequency of thechange in acceleration.
 11. The electroadhesive clutch device of claim1, further comprising a processor circuit configured to control thesignal generator to generate the AC signal based on information from anaccelerometer about an acceleration of the clutch device or about anacceleration of a body with which the clutch device is coupled.
 12. Theelectroadhesive clutch device of claim 11, further comprising theaccelerometer, wherein the processor circuit is configured to: receivean acceleration-indicating signal from the accelerometer; identify anoscillatory motion based on the acceleration-indicating signal from theaccelerometer; and control the signal generator based on the oscillatorymotion as-identified.
 13. The electroadhesive clutch device of claim 12,wherein the processor circuit is configured to identify a magnitude orfrequency characteristic of the oscillatory motion and, in response,update a magnitude characteristic of the AC signal to thereby update ashear force resistance characteristic of the clutch device.
 14. Theelectroadhesive clutch device of claim 1, further comprising a processorcircuit configured to receive a clutch force indication and, inresponse, control the electrical signal generator to update a frequencyor magnitude characteristic of the AC signal based on the clutch forceindication.
 15. The electroadhesive clutch device of claim 14, furthercomprising a displacement sensor configured to provide the clutch forceindication based on information about a relative displacement of thefirst and second electrode assemblies.
 16. A wearable garment with acontrollably expandable and contractible portion, the wearable garmentcomprising: a clutch device coupled to the expandable and contractibleportion, the clutch device including a substantially planar firstconductive portion that is at least partially covered by a firstdielectric insulator and a substantially planar second conductiveportion that is at least partially covered by a second dielectricinsulator; and an electrical signal generator configured to providefirst and second signals to the first and second conductive portions ofthe clutch device, respectively, wherein the first and second signalscomprise an alternating current (AC) clutch control signal; wherein thefirst and second conductive portions of the clutch device are at leastpartially overlapping at respective surfaces that comprise the first andsecond dielectric insulators.
 17. The wearable garment of claim 16,further comprising a sensor configured to sense motion or an orientationof the wearable garment, wherein the electrical signal generator isconfigured to update a frequency or magnitude characteristic of the ACclutch control signal based on a sensor signal from the sensor, thesensor signal including information about the sensed motion ororientation of the wearable garment.
 18. The wearable garment of claim16, further comprising a displacement sensor configured to measure achange in a dimension of the expandable and contractible portion,wherein the electrical signal generator is configured to update afrequency or magnitude characteristic of the AC clutch control signalbased on measured change in the dimension of the expandable andcontractible portion.
 19. The wearable garment of claim 16, wherein theelectrical signal generator is configured to generate the AC clutchcontrol signal as a pulse-width modulated signal with a duty cycle ofabout 50%.
 20. The wearable garment of claim 19, wherein the AC clutchcontrol signal has a frequency of at least about 10 Hz and less thanabout 50 Hz.
 21. An electroadhesive clutch device comprising: a firstelectrode assembly comprising a planar first conductive portion; asecond electrode assembly comprising a planar second conductive portion;a first dielectric member provided between the first and secondconductive portions; an electrical signal generator configured toprovide first and second signals to the first and second conductiveportions of the electrode assemblies, respectively, wherein the firstand second signals comprise respective opposite-polarity portions of analternating current (AC) clutch control signal; wherein the first andsecond electrode assemblies are at least partially overlapping at alongsurfaces that comprise the first and second conductive portions.
 22. Theelectroadhesive clutch device of claim 21, further comprising a devicehousing, wherein the first electrode assembly is substantially fixedrelative to the device housing, and wherein the second electrodeassembly is configured to move relative to the device housing and thefirst electrode assembly.
 23. The electroadhesive clutch device of claim21, wherein the first dielectric member is coupled to the firstconductive portion and is provided between the first and secondconductive portions of the device.
 24. The electroadhesive clutch deviceof claim 23, further comprising a second dielectric member coupled tothe second conductive portion and provided between the first dielectricmember and the second conductive portion of the second electrodeassembly.
 25. The electroadhesive clutch device of claim 21, wherein theelectrical signal generator is configured to generate the AC clutchcontrol signal as a pulse-width modulated signal with an average dutycycle of about 50%.
 26. The electroadhesive clutch device of claim 25,wherein the AC clutch control signal has a frequency of at least about10 Hz and less than about 50 Hz.
 27. The electroadhesive clutch deviceof claim 21, further comprising an accelerometer configured to measuremotion of the clutch device, and wherein the signal generator isconfigured to generate the AC clutch control signal based on themeasured motion.